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Register a new userOptimization of the Design of Hexapod Platform
أمثلة منصة تفرعية سداسية الأذرع بمخدمات دورانية
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Publication date
2017
and research's language is
العربية
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يهدف هذا العمل إلى البحث في التصميم الأمثل لمنصة ستيوارت التفرعية من نوع 6-RUS ذات مخدمات دورانية. ضمن هذا البحث تم بداية نمذجة المنصة المدروسة هندسيا و حركيا مع تحديد مجموعة وضعياتها الشاذة و من ثم تم تحديد فضائي عملها الانسحابي و الدوراني و كذلك تم دراسة مسالة حل نموذجها الهندسي بشكل مباشر مفصل من خلال الاعتماد على تقنية هجينة مقترحة.
The main objective of this research is to present a study on the design optimization of the 6-RUS Stewart platform. The geometric and kinematic models are calculated and the singular positions are determined, then its translation and orientation workspace are determining. The direct geometric model of the studied platform was determined by using a proposed hybrid method.
References used
Merlet, J. P. (2006). Parallel robots ,Springer
V. E. Gough and S. G. Whitehall, “Universal type test machine,” in Proc. 9” Int. Tech. Congress FISITA,pp. 117-137, 1962
D. Stewart, “A platform with six degree-of freedom”, in Proc. Inst. Mech. Eng., vol. 180, pp. 371-386, 1965
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