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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)
Title
  • Complex Design of Stewart Platform Structure Based Parallel Mechanism
  • Complex Design of Stewart Platform Structure Based Parallel Mechanism (en)
skos:prefLabel
  • Complex Design of Stewart Platform Structure Based Parallel Mechanism
  • Complex Design of Stewart Platform Structure Based Parallel Mechanism (en)
skos:notation
  • RIV/00216305:26210/08:PU76353!RIV10-MSM-26210___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(1P05ME789), Z(MSM0021630518)
http://linked.open...iv/cisloPeriodika
  • 3-B
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 360766
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/08:PU76353
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • parallel mechanism, Stewart platform, dynamics modeling, control (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • SK - Slovenská republika
http://linked.open...ontrolniKodProRIV
  • [F85A5A07E36B]
http://linked.open...i/riv/nazevZdroje
  • Acta Mechanica Slovaca
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 2008
http://linked.open...iv/tvurceVysledku
  • Březina, Tomáš
  • Andrš, Ondřej
  • Houška, Pavel
  • Březina, Lukáš
http://linked.open...n/vavai/riv/zamer
issn
  • 1335-2393
number of pages
http://localhost/t...ganizacniJednotka
  • 26210
is http://linked.open...avai/riv/vysledek of
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