Kinematic and dynamic analysis of Stewart platform-based machine tool structures

Harib, Khalifa H.; Srinivasan, K.

doi:10.1017/s0263574703005046

Cited by 164 publications

(89 citation statements)

References 12 publications

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“…Using the position and orientation of the platform the Kinematic Analysis is performed through the use of MATLAB and the results of leg lengths of six legs obtained are compared well with the results obtained by Harib and Srinivasan (2003) which is shown in Now, when a time varying position and orientation is given the Kinematic results of leg lengths obtained using MSC ADAMS are compared with the result of MATLAB. A very good comparison of the results is presented in Figure 4.…”

Section: Validation Of the Developed Simulation Modelmentioning

confidence: 83%

“…The numerical values for the coordinates of attach points at moving and fixed platforms provided in Harib and Srinivasan (2003) is first used to validate the mathematical formulation. The position and orientation of the platform are given as:…”

Section: Validation Of the Developed Simulation Modelmentioning

confidence: 99%

“…The inverse and forward kinematic analysis is done and code is developed in order to validate the results of the model developed in MSC ADAMS. The moving and fixed platforms provided in Harib and Srinivasan (2003) is considered to compare the results. The model has been developed on MSC ADAMS using geometric and inertia properties of the different parts of the model.…”

Section: Introductionmentioning

confidence: 99%

“…The set of Euler angles   , ,    which uniquely determine the orientations of a rigid body are used. The frame X'Y'Z' as in Harib and Srinivasan (2003) is a nonrotating coordinate system that translates with the rigid body while frame xyz is a body coordinate system that both rotates and translates with the rigid body.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic analysis and vibration control of a multi-body system using MSC Adams

Alam

Akhlaq

Rahman

2015

Lat. Am. j. solids struct.

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In this paper, modelling and simulation of a multi-body system for its vibration control using sensors and actuators is presented. The model developed on MSC ADAMS consists of six legs connecting moving and base plates using spherical joints with axial rotation of legs constrained. It contains linear actuator collocated with force sensor. Mathematical model of the mechanism representing the Kinematic and Dynamic analysis of model is presented. The Leg Length variation obtained using MATLAB is obtained in order to validate the model developed in MSC ADAMS. Natural frequencies for six different mode shapes are obtained from vibration excitation analysis. A decentralized force feedback controller which uses PID control law with single gain is used for actively attenuating the vibration, which is coming from base platform. The transfer function, defined as the ratio of Laplace transformation of the acceleration of moving plate and base plate, is considered as a measure of isolation. Effect of proportional, derivative and integral feedback is studied separately and together as well. A significant isolation in the resonance transmissibility and natural frequency of the mechanism is demonstrated.

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Section: Validation Of the Developed Simulation Modelmentioning

confidence: 83%

Section: Validation Of the Developed Simulation Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic analysis and vibration control of a multi-body system using MSC Adams

Alam

Akhlaq

Rahman

2015

Lat. Am. j. solids struct.

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“…In general, these studies are kinematic analysis of the parallel mechanisms (forward/inverse kinematic analysis, [2][3][4][5][6]), dynamic behavior, [7], control, [8][9][10], design of different simulators, [11,12], and manufacturing, [4]. Among these, especially, kinematic analysis research for mechanisms resulting simpler mathematical solutions to reduce computation time is very significant.…”

Section: Introductionmentioning

confidence: 99%

A Stewart Platform as a FBW Flight Control Unit

Omurlu¹,

Yıldız²

2011

Journal of Electrical Engineering

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A Stewart Platform as a FBW Flight Control UnitA variety of flight control units have been put into realization for navigational purposes of spatially moving vehicles (SMV), which is mostly manipulated by 2 or 3 degrees-of-freedom (DOF) joysticks. Since motion in space consists of three translational motions in forward, side and vertical directions and three rotational motions about these axis; with present joystick interfaces, spatial vehicles has to employ more than one navigational control unit to be able to navigate on all required directions. In this study, a 3 × 3 Stewart-Platform-based FBW (Fly-By-Wire) flight control unit with force feedback is presented which will provide single point manipulation of any SMVs along three translational and about three rotational axis. Within the frame of this paper, design, capability and the advantages of the novel system is mentioned. Kinematics of a Stewart Platform (SP) mechanism employed and its motion potentials is presented by simulations and workspace of the system is evaluated. Dynamic analysis by Bond-Graph approach will be mentioned. Mechatronic design of the complete structure is discussed and force reflection capability of the system with simulations is pointed out using stiffness control. Finally, the possible future work of the subject is discussed which may include the feasible solutions of the SP in terms of size and safety when implementing inside a cockpit.

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A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines

Khoukhi

Baron

Balazinski

CISM Courses and Lectures

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Kinematic and dynamic analysis of Stewart platform-based machine tool structures

Cited by 164 publications

References 12 publications

Dynamic analysis and vibration control of a multi-body system using MSC Adams

Dynamic analysis and vibration control of a multi-body system using MSC Adams

A Stewart Platform as a FBW Flight Control Unit

A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines

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