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Description
| - 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.
- 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. (en)
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Title
| - Complex Design of Stewart Platform Structure Based Parallel Mechanism
- Complex Design of Stewart Platform Structure Based Parallel Mechanism (en)
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skos:prefLabel
| - Complex Design of Stewart Platform Structure Based Parallel Mechanism
- Complex Design of Stewart Platform Structure Based Parallel Mechanism (en)
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skos:notation
| - RIV/00216305:26210/08:PU76353!RIV10-MSM-26210___
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http://linked.open...avai/riv/aktivita
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http://linked.open...avai/riv/aktivity
| - P(1P05ME789), Z(MSM0021630518)
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http://linked.open...iv/cisloPeriodika
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http://linked.open...vai/riv/dodaniDat
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http://linked.open...aciTvurceVysledku
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http://linked.open.../riv/druhVysledku
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http://linked.open...iv/duvernostUdaju
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http://linked.open...titaPredkladatele
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http://linked.open...dnocenehoVysledku
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http://linked.open...ai/riv/idVysledku
| - RIV/00216305:26210/08:PU76353
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http://linked.open...riv/jazykVysledku
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http://linked.open.../riv/klicovaSlova
| - parallel mechanism, Stewart platform, dynamics modeling, control (en)
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http://linked.open.../riv/klicoveSlovo
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http://linked.open...odStatuVydavatele
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http://linked.open...ontrolniKodProRIV
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http://linked.open...i/riv/nazevZdroje
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http://linked.open...in/vavai/riv/obor
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http://linked.open...ichTvurcuVysledku
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http://linked.open...cetTvurcuVysledku
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http://linked.open...vavai/riv/projekt
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http://linked.open...UplatneniVysledku
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http://linked.open...v/svazekPeriodika
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http://linked.open...iv/tvurceVysledku
| - Březina, Tomáš
- Andrš, Ondřej
- Houška, Pavel
- Březina, Lukáš
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http://linked.open...n/vavai/riv/zamer
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issn
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number of pages
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http://localhost/t...ganizacniJednotka
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is http://linked.open...avai/riv/vysledek
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