Dynamics of a Stewart platform

Andrievskiy, B. R.; Arseniev, Dmitry G.; Зегжда, С. А.; Kazunin, D. V.; Kuznetsov, Nikolay V.; Leonov, Gennadij A.; Товстик, П. Е.; Товстик, Т. П.; Yushkov, M. P.

doi:10.3103/s1063454117030037

Cited by 5 publications

(3 citation statements)

References 11 publications

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“…Since each of the six active arms is linked to the moving platform by a rod, all the linked rods can achieve independent motion, but there is a strong coupling between the motion outputs of each degree of freedom of the system, which needs to be decoupled to good performance, and the sliding mode control has a "self-decoupling" function, combining RBFNN with the sliding mode controller, the upper platform attitude is decoupled by inverse solution to make it a second-order nonlinear system as follows [17]:…”

Section: Design Of the Proposed Controller For 6-dof Parallel Platformmentioning

confidence: 99%

Trajectory tracking based on neural network sliding mode controller

Yu¹

2023

Preprint

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In this paper, we aim to improve the tracking performance of the manipulator joint system under the presence of the uncertainties, such as modelling error, friction, and external disturbance. Firstly, the nonsingular fast terminal sliding mode control is developed to guarantees a finite-time convergence and to solve the singular issue of the terminal sliding mode control. Secondly, in view of the established system model, an adaptive sliding mode controller (SMC) based on radial basis function neural network (RBFNN) and sliding mode variable structure control theory is designed for the tracking of the bi-joint manipulator and six-degree of freedom parallel robot. Finally, the results show that our method improves the robustness of the adaptive RBFNN controller further, weakens the chattering phenomenon, reduces error, and has an excellent control performance.

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Section: Design Of the Proposed Controller For 6-dof Parallel Platformmentioning

confidence: 99%

Trajectory tracking based on neural network sliding mode controller

Yu¹

2023

Preprint

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“…Other approaches based on Newton-Euler equations are detailed in [16,20], while in [17] the equations of motion are obtained using the Kane equations.…”

Section: Forced Vibrationsmentioning

confidence: 99%

“…The properties that resulted from the symmetry of the platform are studied in [15]. The dynamics of a platform acted on by a pneumatic actuator, considering the inertia of the actuators, is studied in [16], while the dynamics of the platform acted on by linear actuators is described in [17,18]. The dynamics of the Stewart platform are studied with the aid of the principle of virtual work [19], or with the aid of the equations of classical mechanics considering a certain delay for the answer [20].…”

Section: Introductionmentioning

confidence: 99%

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

et al. 2022

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In this paper we consider two situations. In the first, all kinematic chains are elastic, while the second situation is characterized by one rigid kinematic chain, with the rest of them being elastic. In addition, the kinematic joints are considered to be rigid. The calculations are performed using the screw coordinates. For the free vibrations of the rigid solid we determined the rigidity matrix and the eigenpulsations in both cases. It was proved that the results in the second case cannot be considered as limits for the results of the first situation, putting infinite values for the elements of the rigidity matrix of one kinematic chain. We also developed the theory for the forced vibrations of the system. A numerical application is considered and a great variety of cases are developed and discussed. The results obtained for the forced vibrations are presented and discussed. The paper combines elastic and rigid kinematic chains, as well as general configurations of the kinematic chains. The method presented here may be used for any number of kinematic chains, no matter if the structure is symmetrical or asymmetrical.

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Automatic adjustment system for space position and attitude of complex structural parts

Wei

2020

2020 IEEE International Conference on Information Technology,Big Data and Artificial Intelligence (ICIBA)

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Dynamics of a Stewart platform

Cited by 5 publications

References 11 publications

Trajectory tracking based on neural network sliding mode controller

Trajectory tracking based on neural network sliding mode controller

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

Automatic adjustment system for space position and attitude of complex structural parts

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