SMA Actuator Technology Application in Stewart Platform Construction
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Control of Stewart Platform under Actuator Saturation
A novel adaptive fuzzy trajectory tracking algorithm of Stewart platform based motion platform is proposed to compensate path deviation and degradation of controller’s performance due to actuator torque limit. The algorithm can be divided into two parts: the real-time trajectory shaping part and the joint space adaptive fuzzy controller part. For a reference trajectory in task space whenever an...
متن کاملA Stewart Platform Lunar Rover
A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers. The NIST robot, called ROBOCRANE, has three-pairs of rigged legs instead of actuators to create a gantry. The legs are joined in a Stewart Platform configuration providing a means for canceling out rotations norm...
متن کاملPerformance Measurements on the MPI Stewart Platform
The report AGARD-AR-144 provides a framework for systematically assessing the dynamic characteristics of flight simulator motion systems. Several measurements defined in the report were performed on the Stewart platform located at the Max Planck Institute for Biological Cybernetics. The measurements were performed with a setup consisting of real-time hardware and an off-the-shelf IMU. Results i...
متن کاملModeling and Evaluating of the Stewart Platform
This paper presents an algorithm for solving forward kinematics problem of the Stewart Platform and an application for modeling of the Stewart Platform's motions. The developed application is able to solve forward kinematics problem in given accuracy; to calculate curve of the tool positioned on the mobile platform; to calculate possible deviation of the tool from a nominal position if lengths ...
متن کاملDynamic Modeling and Simulation of Stewart Platform
Since a parallel structure is a closed kinematics chain, all legs are connected from the origin of the tool point by a parallel connection. This connection allows a higher precision and a higher velocity. Parallel kinematic manipulators have better performance compared to serial kinematic manipulators in terms of a high degree of accuracy, high speeds or accelerations and high stiffness. Theref...
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ژورنال
عنوان ژورنال: Journal of Applied Sciences
سال: 2011
ISSN: 1812-5654
DOI: 10.3923/jas.2011.3783.3790