The Modelling of Mechanism with Parallel Kinematic Structure in Software Matlab/Simulink

Abstract

The article deals with the preparation of simulation model of mechanism with parallel kinematic structure called hexapod as an electro-mechanical system in software MATLAB/Simulink. The simulation model is composed from functional blocks represented each part of mechanism's kinematic structure with certain properties. The results should be used for further simulation of its behaviour as well as for generating of control algorithms for real functional prototype. Abstrakt Článok sa zaoberá modelovaním mechanizmu s paralelnou kinematickou štruktúrou nazývaného hexapod ako elektromechanického systému v prostredí softvéru MATLAB/Simulink. Simulačný model je zložený z funkčných blokov, ktoré predstavujú jednotlivé časti kinematickej štruktúry mechanizmu s určitými vlastnosťami. Výsledky môžu byť použité pre budúcu simuláciu jeho správanie, ako aj pre generovanie riadiacich algoritmov pre reálny funkčný prototyp.

The space distribution and transfer of positioning errors from actuators to the TCP point of parallel mechanism

“…It appears that for both areas the machines with parallel and hybrid kinematic structure fit better than machines with conventional serial kinematics. These mechanisms are characterized above all by higher stiffness and higher dynamic parameters (mainly due to reduced moving mass and inertia) [1][2][3][4]. One of the well-known fully parallel mechanisms is called Hexapod or GoughStewart platform.…”