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首页> 外文会议>International Conference on Methods and Models in Automation and Robotics >Mechatronics Design, Modelling and Controlling of the Stewart-Gough Platform
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Mechatronics Design, Modelling and Controlling of the Stewart-Gough Platform

机译：Stewart-Gough平台的机电一体化设计，建模和控制

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This paper presents a mechatronics design of a low-cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem (IKP) of the SGP were presented for both prismatic actuators and rotary actuators. Five geometry constants which affect the final range of movement of the SGP were defined. An interactive movable 3D model of the SGP was created. The 3D model was used to test a range of movement of the SGP and to detect a potential crossing of elements during their motion. A mathematical model of a ball & plate system was designed. A control synthesis was conducted with rapid control prototyping using the MATLAB environment. A prototyped and implemented control law was based on two proportional integral derivative (PID) controllers.
机译：本文介绍了带有旋转执行器的低成本Stewart-Gough平台（SGP）的机电设计。设计的SGP应该被应用在球板控制系统中。球与板控制系统的综合也在本文的主题之内。 SGP的机电一体化设计过程是通过计算机辅助设计（CAD）软件进行的。针对棱柱形执行器和旋转执行器，提出了SGP逆运动学问题（IKP）的独特解析解。定义了影响SGP最终运动范围的五个几何常数。创建了SGP的交互式可移动3D模型。 3D模型用于测试SGP的运动范围并检测元素在运动过程中的潜在交叉。设计了球与板系统的数学模型。使用MATLAB环境通过快速控制原型进行控制综合。原型控制法则是基于两个比例积分微分（PID）控制器的。

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