Abstract
Parallel manipulators are a good candidate and have a leading advantage over the serial manipulators in terms of rigidity, precision, and material handling (payload). The main aim of this work is to design and construct Stewart Platform for robotics laboratory program. It serves the sole purpose of providing the technical teaching guidance, clear guidance in the robotics concepts, and application covered in the academics, which will help to apply and verify their kinematics and their degree of freedom (DOF), operation, and limitation. The parallel manipulator (Stewart platform) is designed for the payload of 500 g, and the prototype is mainly developed as proof of concept (PoC) toward the academic teaching purpose. When considering the Gough–Stewart structure as representative of six DOF spatial robots, which describes five types of designs of mobile platform which were driven by the actuated joints simple symmetric manipulator (SSM), triangular simplified symmetric manipulator (TSSM), minimal simplified symmetric manipulator (MSSM), platform with semi-regular hexagon (PSRH), and platform with regular hexagon (PRH). After studying all the configurations, SSM type was found to be satisfying for our need. The platform was constructed using the linear actuators controlled by servo, spherical joints and acrylic plates as basic construction material. The control of this system is done through the Arduino microcontroller and the suitable servo motor controller.
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Venkat Raaman, M., Aravind, S., Pavel, R., Kuppan Chetty, R.M., Dhanraj, J.A. (2021). Design and Development of a General-Purpose Low-Cost Stewart Platform for Laboratory Teaching: A Mechatronics Approach. In: Manik, G., Kalia, S., Sahoo, S.K., Sharma, T.K., Verma, O.P. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-0942-8_45
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