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COMPLETE DYNAMIC ANALYSIS OF STEWART PLATFORM BASED ON WORKSPACE


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Год выпуска: 2011
Автор: Burcu Guneri and Ayse Saide Sarigul
Издательство: LAP Lambert Academic Publishing
Страниц: 140
ISBN: 9783838377155
Описание
 In recent years, the field of parallel manipulators has expanded significantly in applications requiring high precision, loading capacity, accuracy, rigidity and high velocity. Stewart platform is the most common type of parallel manipulators. Limited workspace, complex kinematic/kinetic solutions, singularities inside the workspace are the main problems encountered with regard to this type of robots. In this book, using some design/engineering software and programming language, Stewart platform is investigated in details by modeling and simulation, dynamic analysis and singularity detection. The effects of geometric and kinematic parameters on the workspace are determined for different orientations of the moving platform. The actuator forces computed on the workspace boundaries are compared for different joint positions. Singularity analysis of Stewart platform is also performed considering many aspects based on trajectory planning. In this manner, a complete package of analysis...

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