Open AccessInverse kinematic analysis of a fixture for fine alignment of central axis of top and bottom frame using simulation
Author(s) -
P. S. Aglawe,
S. S. Ohol
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1012/1/012014
Subject(s) - fixture , kinematics , payload (computing) , inverse kinematics , frame (networking) , computer science , matlab , robotics , control engineering , actuator , control theory (sociology) , degrees of freedom (physics and chemistry) , simulation , mechanical engineering , engineering , robot , artificial intelligence , control (management) , physics , computer network , classical mechanics , quantum mechanics , network packet , operating system
In the field of robotics, the design and development of Stewart Platform is currently the widely discussed topic because of its complexity as well as the usefulness in many fields like military operations, biomedical, Stealth operations, etc. This research work focuses on designing of fixture using rotary actuators and Simulation of Stewart Platform in MATLAB. Fixture consists of controlling of different degrees of freedom of the module, precise linear as well as rotary motion and motor position controller for every degree of freedom and enhanced real time control of each module. Inverse kinematic analysis of a fixture using Sim-mechanics of MATLAB is carried out. This fixture has a unique design considering space constraints and weight constraints. Above research work for automatic alignment of parallel robot with a payload of @5kg can be useful for many applications.