Open AccessKinematics Simulation of Gough-Stewart Parallel Manipulator by Using Simulink Package in Matlab Software
Author(s) -
Hassan M. Alwan,
Riyadh Ahmed Sarhan
Publication year - 2019
Publication title -
journal of university of babylon for engineering sciences
Language(s) - English
Resource type - Journals
ISSN - 2616-9916
DOI - 10.29196/jubes.v27i2.2289
Subject(s) - orientation (vector space) , position (finance) , kinematics , inverse kinematics , stewart platform , matlab , parallel manipulator , kinematics equations , inverse , computer science , forward kinematics , control theory (sociology) , simulation , mathematics , artificial intelligence , robot kinematics , geometry , robot , physics , classical mechanics , finance , control (management) , economics , mobile robot , operating system
The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree of freedom, which has six equations of Kinematics (Inverse and forward), with six variables (Lengths, Position, and Orientation). In this work derived the inverse equations, which used to compute the lengths of the linkages and its changes depended on the position and orientation of the platform's center, then derived the forward equations to calculate the position and orientation of the moving platform in terms of the lengths. This theoretical model of the kinematics analysis of the Gough Stewart has been built into the Simulink package in Matlab to obtain the lengths, position, and orientation for the manipulator at any time of motion. The input parameters (Position and Orientation) in inverse blocks compared with the output parameters (Position and Orientation) in the forward blocks, which show good results.