{"title":"Stewart平台机器人的设计与控制","authors":"Indrawanto, A. Santoso","doi":"10.1109/AMS.2009.53","DOIUrl":null,"url":null,"abstract":"This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate the controller performance.","PeriodicalId":6461,"journal":{"name":"2009 Third Asia International Conference on Modelling & Simulation","volume":"2020 1","pages":"475-480"},"PeriodicalIF":0.0000,"publicationDate":"2009-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Design and Control of the Stewart Platform Robot\",\"authors\":\"Indrawanto, A. Santoso\",\"doi\":\"10.1109/AMS.2009.53\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate the controller performance.\",\"PeriodicalId\":6461,\"journal\":{\"name\":\"2009 Third Asia International Conference on Modelling & Simulation\",\"volume\":\"2020 1\",\"pages\":\"475-480\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-05-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 Third Asia International Conference on Modelling & Simulation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMS.2009.53\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 Third Asia International Conference on Modelling & Simulation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMS.2009.53","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate the controller performance.
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