Complete Dynamic Analysis of Stewart Platform Based on Workspace (Paperback) (ISBN-13: 9783838377155)

In recent years, the field of parallel manipulators has expanded significantly in applications requiring high precision, loading capacity, accuracy, rigidity and high velocity. Stewart platform is the most common type of parallel manipulators. Limited workspace, complex kinematic/kinetic solutions, singularities inside the workspace are the main problems encountered with regard to this type of robots. In this book, using some design/engineering software and programming language, Stewart platform is investigated in details by modeling and simulation, dynamic analysis and singularity detection. The effects of geometric and kinematic parameters on the workspace are determined for different orientations of the moving platform. The actuator forces computed on the workspace boundaries are compared for different joint positions. Singularity analysis of Stewart platform is also performed considering many aspects based on trajectory planning. In this manner, a complete package of analysis focused on Stewart platform is presented in this book. The reader can benefit from the obtained results and conclusions which may be utilized for design, analysis, simulation and manufacturing purposes.

Author: Burcu G. Neri, Ayse Saide Sarig L., Burcu Guneri
ISBN-10: 383837715X
ISBN-13: 9783838377155
Publisher: LAP Lambert Academic Publishing
Language: English
Published: 02/17/2011
Pages: 140
Format: Paperback
Weight: 0.47lbs
Size: 9.00h x 6.00w x 0.33d