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Mathematical model of Stewart platform motion

  • Machinery Mechanics
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Abstract

A mathematical model of the mechanism of movement of an undeformed platform with six degrees of freedom is proposed. The equations of spatial motion of particles of the platform are derived using the principle of superposition of motions in Lagrangian space. Their derivation with respect to time allows any kinematic and associated energy characteristics of the movement to be determined. The conditions of energy balance are converted to a system of equations for determining the forces in kinematic pairs in all versions of the platform motion. The model can be used to improve the mechanisms of technological machines, including the positioning of their working groups.

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References

  1. Stewart, D., A Platform with Six Degrees of Freedom, UK Institution of Mechanical Engineers Proceedings, 1965–66, vol. 180,part 1, no. 15.

  2. Yurchik, F.D., and Bykanova, A.Yu, Simulation of the Dynamic of Manipulative Mechanisms with Six Degrees of Freedom, http://www.library.fentu.ru

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  4. Alyushin, Yu.A., The Principle of Superposition of the Motion in the Space of Lagrange variables, Probl. Mashinostr. Nadeznosti Mash., 2001, no. 3, pp. 13–19.

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  6. Alyushin, Yu.A., Mechanika processov deformacii v prostranstve peremennyh Lagrangea (The Mechanics of Deformation Processes in the Space of Lagrange Variables), Moscow: Mashinostroenie, 1997.

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Authors and Affiliations

  1. Moscow, Russia

    Yu. A. Alyushin & S. A. Elenev

Authors
  1. Yu. A. Alyushin
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  2. S. A. Elenev
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Additional information

Original Russian Text © Yu.A. Alyushin, S.A. Elenev, 2010, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2010, No. 4, pp. 3–11.

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Alyushin, Y.A., Elenev, S.A. Mathematical model of Stewart platform motion. J. Mach. Manuf. Reliab. 39, 305–312 (2010). https://doi.org/10.3103/S1052618810040011

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  • DOI: https://doi.org/10.3103/S1052618810040011

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