操纵杆控制被动顺应Stewart-Gough平台

2021 IEEE 11th International Conference on System Engineering and Technology (ICSET) Pub Date : 2021-11-06 DOI:10.1109/ICSET53708.2021.9612565

Rahul Ramachndran Nair, M. Ramasamy, Elango Natrajan, Shahid Manzorr, W. H. Lim, C. Ang

{"title":"操纵杆控制被动顺应Stewart-Gough平台","authors":"Rahul Ramachndran Nair, M. Ramasamy, Elango Natrajan, Shahid Manzorr, W. H. Lim, C. Ang","doi":"10.1109/ICSET53708.2021.9612565","DOIUrl":null,"url":null,"abstract":"This research presents the design and development of a Stewart-Gough platform with a soft material and the analysis of its motion using a Joystick. It used six servo motors to actuate the legs there by performing translational, rotational, and combinational motions. The development of these 6 degrees of freedom parallel mechanism was completed by inverse kinematics followed by numerical simulations to compute the coordinate of leg position on top platform and base plate. The developed model was fabricated using 3D printer and the motions were controlled by Joystick. The motion of the platform for actuation of each leg actuator was monitored and found matching with the results from numerical simulations.","PeriodicalId":433197,"journal":{"name":"2021 IEEE 11th International Conference on System Engineering and Technology (ICSET)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Joystick Controlled Passive Compliance Stewart-Gough Platform\",\"authors\":\"Rahul Ramachndran Nair, M. Ramasamy, Elango Natrajan, Shahid Manzorr, W. H. Lim, C. Ang\",\"doi\":\"10.1109/ICSET53708.2021.9612565\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This research presents the design and development of a Stewart-Gough platform with a soft material and the analysis of its motion using a Joystick. It used six servo motors to actuate the legs there by performing translational, rotational, and combinational motions. The development of these 6 degrees of freedom parallel mechanism was completed by inverse kinematics followed by numerical simulations to compute the coordinate of leg position on top platform and base plate. The developed model was fabricated using 3D printer and the motions were controlled by Joystick. The motion of the platform for actuation of each leg actuator was monitored and found matching with the results from numerical simulations.\",\"PeriodicalId\":433197,\"journal\":{\"name\":\"2021 IEEE 11th International Conference on System Engineering and Technology (ICSET)\",\"volume\":\"2 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-11-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE 11th International Conference on System Engineering and Technology (ICSET)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSET53708.2021.9612565\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE 11th International Conference on System Engineering and Technology (ICSET)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSET53708.2021.9612565","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

本研究介绍了一种采用软材料的Stewart-Gough平台的设计和开发，并使用操纵杆分析了其运动。它使用了六个伺服电机来驱动腿，通过执行平移，旋转和组合运动。通过运动学逆解和数值仿真计算了该并联机构在平台和底板上的腿位坐标，完成了该并联机构的开发。利用3D打印机制作模型，通过操纵杆控制模型的运动。对各腿作动器驱动平台的运动进行了监测，并与数值模拟结果吻合。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Joystick Controlled Passive Compliance Stewart-Gough Platform

This research presents the design and development of a Stewart-Gough platform with a soft material and the analysis of its motion using a Joystick. It used six servo motors to actuate the legs there by performing translational, rotational, and combinational motions. The development of these 6 degrees of freedom parallel mechanism was completed by inverse kinematics followed by numerical simulations to compute the coordinate of leg position on top platform and base plate. The developed model was fabricated using 3D printer and the motions were controlled by Joystick. The motion of the platform for actuation of each leg actuator was monitored and found matching with the results from numerical simulations.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2021 IEEE 11th International Conference on System Engineering and Technology (ICSET)

自引率

0.00%

发文量