Open AccessWorkspace Identification of Stewart Platform
Author(s) -
Sibsankar Dasmahapatra,
Mridul Ghosh
Publication year - 2020
Publication title -
international journal of engineering and advanced technology
Language(s) - English
Resource type - Journals
ISSN - 2249-8958
DOI - 10.35940/ijeat.c5338.029320
Subject(s) - workspace , stewart platform , kinematics , piston (optics) , actuator , inverse kinematics , identification (biology) , control theory (sociology) , engineering , control engineering , system identification , computer science , linear actuator , simulation , mechanical engineering , artificial intelligence , physics , robot , classical mechanics , control (management) , botany , wavefront , optics , biology , software engineering , data modeling
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.