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Symbolic kinematics and dynamics analysis and control of a general Stewart parallel manipulator.

机译：通用Stewart并联机械手的符号运动学和动力学分析与控制。

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摘要

Application of parallel manipulator has received a lot of attention recently in the industry and the robotic community due to its high accuracy, high rigidity, high operation speed, high load capacity and high stiffness as compared with the conventional serial manipulator. One of the most popular parallel manipulators that are commonly used for aircraft simulator is the general purpose 6 degree-of-freedom (DOF) Stewart parallel manipulator. Despite these advantages, the kinematic and dynamic analyses are extremely complicated. Such models are important in terms of qualitative analysis of the required actuator forces to realize certain end-effector task (inverse dynamics), and computing the corresponding end-effector task based on certain input to the system (forward dynamics). However, till date, not much general symbolic solution is reported to aid the above process. Most of the prior work required some form of heuristic, or introduction of extra spring/damper elements to approximate the solutions. This thesis addresses the possibility in using the state-of-the-art symbolic manipulation software tool to derive the general kinematic and dynamic equation of motion of the system so that more accurate solution can be computed. However, there are still consideration are needed to accurately simulate such systems. We address these issues using the example of Stewart parallel manipulator and highlight the solution to the corresponding challenges. Control using stabilizing inverse dynamics was implemented to enhance trajectory tracking of the system.
机译：与传统的串联机械手相比，并联机械手的高精度，高刚性，高操作速度，高负载能力和高刚度，近年来在工业界和机器人界引起了广泛关注。普遍用于飞机模拟器的最流行的并行操纵器之一是通用6自由度（DOF）Stewart并行操纵器。尽管具有这些优点，但是运动学和动力学分析还是极其复杂的。这样的模型在定性分析所需的执行器力以实现某些最终执行器任务（逆动力学）以及基于对系统的某些输入（前向动力学）计算相应的最终执行器任务方面非常重要。但是，到目前为止，还没有多少通用的符号解决方案可以帮助上述过程。大多数先前的工作需要某种形式的试探法，或引入额外的弹簧/阻尼器元件来近似解决方案。本文解决了使用最新的符号操纵软件工具来推导系统运动的一般运动学和动力学方程的可能性，从而可以计算出更精确的解。但是，仍然需要考虑精确地模拟这样的系统。我们以Stewart并联机械手为例解决这些问题，并重点介绍解决相应挑战的解决方案。实施了使用稳定逆动力学的控制，以增强系统的轨迹跟踪。

著录项

  • 作者

    Wang, Yao.;

  • 作者单位

    State University of New York at Buffalo.;

  • 授予单位 State University of New York at Buffalo.;
  • 学科 Engineering Mechanical.
  • 学位 M.S.
  • 年度 2008
  • 页码 127 p.
  • 总页数 127
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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