Publication detail
Complex Design of Stewart Platform Structure Based Parallel Mechanism
BŘEZINA, T. HOUŠKA, P. BŘEZINA, L. ANDRŠ, O.
English title
Complex Design of Stewart Platform Structure Based Parallel Mechanism
Type
Peer-reviewed article not indexed in WoS or Scopus
Language
en
Original abstract
The article deals with the complex design of Stewart platform structure based parallel mechanism and design of its control as well. The first part of the article briefly describes engineering design of the mechanism which is based on time proven conception with the linear actuator connected to the base plate by U joint and to the top plate by spherical joint. Also linear actuator design is described. The second part deals with creating of mechanism dynamics model in Matlab SimMechanics. Principles of model linearization and obtaining of the mechanism state space model, for later control design, are described. The last part describes the control design which is based on idea of two layer control. The controllers have relatively simple linear structure and allow us to tune eigenvalues of the controlling device. It can be said that presented approach is quite complex and seems to be suitable for modeling and control design of complicated mechanisms.
Keywords in English
parallel mechanism, Stewart platform, dynamics modeling, control
Released
2008-10-14
Publisher
EVaOL SjF TU v Košiciach
Location
Košice
ISSN
1335-2393
Volume
2008
Number
3-B
Pages from–to
83–96
Pages count
14
BIBTEX
@article{BUT49660,
author="Tomáš {Březina} and Pavel {Houška} and Lukáš {Březina} and Ondřej {Andrš}",
title="Complex Design of Stewart Platform Structure Based Parallel Mechanism",
journal="Acta Mechanica Slovaca",
year="2008",
volume="2008",
number="3-B",
pages="83--96",
issn="1335-2393"
}