Third mirror Stewart platform of TMT based on mechanism condition number

Jing-xu, 张景旭 Zhang; Qichang, 安其昌 An; Jian-feng, 李剑锋 Li; Fei, 杨飞 Yang

doi:10.3788/ope.20142204.0890

Cited by 2 publications

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It could also be assembled as a whole quickly in pre-set position. With the advantages of big bearing ability, strong stiffness, high precision, and ease of control, the Stewart structure with 6-DOF is widely used in military equipment, aeronautics, and astronautics to assemble precise and complex electro-mechanical systems [1,2].…”

Section: Introductionmentioning

confidence: 99%

The compound control of a Stewart mechanism for automatic assembly via co-simulation

Liu

Huang

Chen

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

With the advantages of big bearing ability, strong stiffness, and high precision, the Stewart structure with six degrees of freedom (6-DOF) has found its way into the fields of military equipment, aeronautics, and astronautics. In this paper, a Stewart mechanism used for automatic docking is studied via the co-simulation approach. The low-speed performance with a heavy load is improved by the speed feedback compensation of parallel cylinders. Firstly, after trajectory planning, the compound control strategy with Coulomb-Viscous friction-based speed compensation is proposed. Subsequently, the co-simulation framework, including the structure model in LMS. Motion, the hydraulic model in AMEsim, and the control model in Matlab/Simulink are separately established with corresponding parameters. Finally, the compound control strategy is comparatively studied with displacement feedback alone. The control errors of cylinder displacement would decrease from ±1.0 mm to ±0.4 mm, which obviously improves the control performance.

show abstract

Section: Introductionmentioning

confidence: 99%

The compound control of a Stewart mechanism for automatic assembly via co-simulation

Liu

Huang

Chen

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…In order to erect the pieces into a precise and complex electro-mechanical system, the assembly mechanism should have at least 6-DOF, big bearing capacity, strong stiffness and high accuracy, and should be easy to control. Stewart structure could meet the requirements mentioned above and thus has been widely used in aeronautics and astronautics [1,2]. However, these indoor applications commonly have unconstrained installation space to overcome the inherent defect of Stewart structure of inadequate workspace [3].…”

Section: Introductionmentioning

confidence: 99%

Optimal design and verification of the 6-DOF Stewart structure used in vehicle-mounted automatic assembly

Liu,

Lou,

Huang

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

The Stewart structure with six degrees of freedoms (6-DOF), which has the advantages of big bearing capacity, strong stiffness and high accuracy, has been widely used in the indoor automatic assembly of aeronautics and astronautics. In this paper, a novel design method for the Stewart structure with limited installation space is proposed to extend the workspace by parameter optimization using genetic algorithm, and the performance is further verified via co-simulation. Firstly, the target function, which describes the workspace that satisfies both kinematic and dynamic constraints, is built with four parameters: the joints circle diameters and the angles between adjacent joints of both bottom and top platforms. Subsequently, the genetic algorithm is used to optimize the target function with the four parameters whose bounds are limited by vehicle-mounted installation space and structure interference. Finally, the geometry model is built in LMS. Motion and is studied using co-simulation method with the hydraulic system in AMEsim and control system in Simulink. With the cylinders motion accuracy within ±0.5 mm, the final position of top platform is consistent with the theoretical calculations, and the position error could be controlled within ±0.7 mm.

show abstract

Third mirror Stewart platform of TMT based on mechanism condition number

Cited by 2 publications

References 0 publications

The compound control of a Stewart mechanism for automatic assembly via co-simulation

The compound control of a Stewart mechanism for automatic assembly via co-simulation

Optimal design and verification of the 6-DOF Stewart structure used in vehicle-mounted automatic assembly

Contact Info

Product

Resources

About