Research on position inverse solution of electric-driven Stewart platform based on Simulink

The Journal of Engineering

Guangxu Pan¹  Yida Zhang¹  Guangzheng Jia¹  Qian Gao¹ 

[1] School of Mechanical Science and Engineering, Northeast Petroleum University;

关键词: robot kinematics;    electric actuators;    graphical user interfaces;    motion control;    position control;    matrix algebra;    control engineering computing;    mechanical engineering computing;    electric-driven Stewart platform;    Simulink;    structural characteristics;    position inverse solution;    electric cylinders;    coordinate transformation;    rotation matrix;    homogeneous transformation;    mathematical model;    input-output signal simulation model;    GUI module;    motion simulation curves;    electric actuators;    motion state control;   

DOI  :  10.1049/joe.2018.8986

来源: DOAJ

【 摘 要 】

The structural characteristics and modes of the Stewart platform driven by electric cylinders are briefly introduced. Based on Simulink, the modelling method of the platform is analysed. To obtain the coordinate transformation of Stewart platform, the rotation matrix and homogeneous transformation are resolved, and the mathematical model of the electric-driven Stewart platform is established related to the structural characteristics. The simulation model of input and output signals is constructed by using graphical user interface (GUI) module provided by Simulink. The motion simulation curves of six electric actuators under different position and posture are obtained, which gives benefit to understand and control the different motion states of the electric-driven Stewart platform.

【 授权许可】

Unknown