Inverse Kinematics to a Stewart Platform

Florian Ion Tiberiu PETRESCU, Relly Victoria Virgil PETRESCU, MirMilad MIRSAYAR

Abstract


Mechanical systems in motion type parallel structures are solid, fast and accurate. Between mobile systems parallel the best known and used system is that of a Stewart platforms, as being and the oldest system, quickly, solid and accurate. The paper presents a few main elements of the Stewart platforms. In the case where a motto element consists of a structure composed of two elements in a relative movement from the point of view of the train of propulsion and especially in the dynamic calculations, it is more convenient to represent the motto element as a single moving item. The paper presents an exact, original analytical geometry method for determining the kinematic and dynamic parameters of a parallel mobile structure. Compared with other methods already known, the presented method has the great advantage of being an exact analytical method of calculation and not one iterative-approximately.

Keywords


Mechatronics; Robotics; Parallel moving; Stewart structure

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References


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ISSN 2170-127X

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This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
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