Abstract
The workspace identification of 6-DOF Stewart Platform has been done in this paper through inverse kinematic modeling. This Stewart Platform has six linear cylinder–piston actuators connected within fixed and the moving platform. The motions of the moving platform such as surge, sway, heave, roll, pitch and yaw have been generated from the combined motions of piston of actuators. The mathematical formulations for Inverse-Kinematic modeling of Stewart Platform have been formulated to find out the individual piston motion for the required platform motion. The platform motions and the actuator motions have been studied for the workspace identification of the Stewart Platform.
Highlights
The Stewart Platform has one fixed platform which is connected with a moveable platform and this connection made by either linear cylinder-piston actuators [1] or some linkage with servo motors [2]
Stewart Platform acts as a parallel manipulator which can generate translation motions as well as rotational motions and their different combined motions
The workspace of the Stewart Platform has been depicted with help of the inverse kinematic equations mentioned in the section III
Summary
The Stewart Platform has one fixed platform which is connected with a moveable platform and this connection made by either linear cylinder-piston actuators [1] or some linkage with servo motors [2]. The study of Stewart Platform is a motivating research field because of its modern and precise industrial applications. This manipulator could be used to control the multi-axis vibration of a slender structure [4]. The present study in this paper deals with the inverse kinematic modeling of the Stewart Platform to find out the workspace. Department, Bengal College of Engineering and Technology, Durgapur, WB, India. The inverse kinematic modeling has been formulated to find the individual piston motion for the corresponding pose of the moving platform.
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