Computer-aided-symbolic dynamic modeling for Stewart-platform manipulator
Computer-aided-symbolic dynamic modeling for Stewart-platform manipulator
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DOI：
10.1017/s0263574708004736
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发表时间：
2009-05
期刊：
影响因子：
2.7
通讯作者：
J. Lin;C.-W. Chen
中科院分区：
文献类型：
--
作者：
J. Lin;C.-W. Chen
总结Stewart平台机械手是一个完全运动的联动系统，具有主要的机械差异，从典型的串行链接机器人。这是一个六轴并联机器人操作器具有高的力-重量比和良好的定位精度，超过了传统的串行链接机器人arm. This研究探讨了Stewart平台的动力学方程和控制方法。由于Stewart平台机器人动力学方程的手动符号展开繁琐、耗时且容易出错，因此迫切需要一种自动化的推导过程。这项工作的主要目标是提出一个有效的程序，计算机生成的动力学方程的Stewart平台的机械手。由于MATLAB具有强大的信号处理工具箱沿着的符号处理功能，并被广泛用作许多大学和研究实验室的通用技术计算环境，本研究的目的是开发一种基于MATLAB的方法，用于并行连接机器人的符号计算。此外，计算扭矩控制方法用于这种结构。仿真结果验证了所提出的控制方法的有效性。
SUMMARY The Stewart platform manipulator is a fully kinematic linkage system that has major mechanical differences from typical serial link robots. It is a six-axis parallel robot manipulator with a high force-to-weight ratio and good positioning accuracy that exceeds that of a conventional serial link robot arm. This study examines the dynamic equations and control methodology for a Stewart platform. Because manual symbolic expansion of Stewart platform robot dynamic equations is tedious, time-consuming, and prone to errors, an automated derivation process is highly desired. The main goal of this work is to present an efficient procedure for computer generation of dynamic equations for a Stewart platform manipulator. As MATLAB has a powerful signal processing toolbox along with symbolic processing capabilities and is widely used as a common technical computing environment in many universities and research laboratories, the objective of this study was to develop a MATLAB-based approach for symbolic computation for a parallel linked robot. Additionally, a computed-torque control methodology is utilized for such a structure. Simulation results demonstrate the effectiveness of the proposed control methodology.