Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Kinematic/dynamic optimal design of a Stewart Platform mechanism

스튜워트 플랫폼 메카니즘의 기구학적/동역학적 최적설계

  • Yi, Byung-Ju (Dept. of Control and Instrumentation Engineering, Hanyang University) ;
  • Kim, Whee-Kuk (Dept.of Control and Instrumentation Engineering, Korea University) ;
  • Huh, Kum-Kang (Dept.of Control and Instrumentation Engineering, Korea University)
  • Published : 1996.03.01
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Abstract

This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.

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