• 제목/요약/키워드: Stewart 플랫폼

검색결과 55건 처리시간 0.031초

반복학습제어와 할바흐 자석 배열 스튜어트 플랫폼을 이용한 차량 진동 신호 재현 (Replication of Automotive Vibration Target Signal Using Iterative Learning Control and Stewart Platform with Halbach Magnet Array)

  • 고병식;강수영
    • 한국소음진동공학회논문집
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    • 제23권5호
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    • pp.438-444
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    • 2013
  • This paper presents the replication of a desired vibration response by iterative learning control (ILC) system for a vibration motion replication actuator. The vibration motion replication actuator has parameter uncertainties including system nonlinearity and joint nonlinearity. Vehicle manufacturers worldwide are increasingly relying on road simulation facilities that put simulated loads and stresses on vehicles and subassemblies in order to reduce development time. Road simulation algorithm is the key point of developing road simulation system. With the rapid progress of digital signal processing technology, more complex control algorithms including iterative learning control can be utilized. In this paper, ILC algorithm was utilized to produce simultaneously the six channels of desired responses using the Stewart platform composed of six linear electro-magnetic actuators with Halbach magnet array. The convergence rate and accuracy showed reasonable results to meet the requirement. It shows that the algorithm is acceptable to replicate multi-channel vibration responses.

한 개의 선형 여유센서를 갖는 스튜어트 플랫폼의 실시간 순기구학 (Real-Time Forward Kinematics of the 6-6 Stewart Platform with One Extra Linear Sensor)

  • 심재경;이태영
    • 대한기계학회논문집A
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    • 제25권9호
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    • pp.1384-1390
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    • 2001
  • This paper deals with the forward kinematics of the 6-6 Stewart platform of planar base and moving platform using one extra linear sensor. Based on algebraic elimination method, it first derives an 8th-degree univariate equation and then finds tentative solution sets out of which the actual solution is to be selected. In order to provide more exact solution despite the error between measured sensor value and the theoretic alone, a correction method is also used in this paper. The overall procedure requires so little computation time that it can be efficiently used for real-time applications. In addition, unlike the iterative scheme e.g. Newton-Raphson, the algorithm does not require initial estimates of solution and is free of the problems that it does not converge to actual solution within limited time. The presented method has been implemented in C language and a numerical example is given to confirm the effectiveness and accuracy of the developed algorithm.

스튜어트 플랫폼형 평행식 로봇의 동역학적 모델링과 해석 (Dynamic modeling and analysis for the stewart platform type of parallel robot)

  • 장형배;한창수
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.965-970
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    • 1992
  • A dynamic modeling and analysis for the Stewart platform type of parallel robot is addressed. The dynamic modeling is performed based on the method of Kinematic Influence Coefficients(KIC) and transfering of the generalized coordinates. The optimum geometric configurations of the system that minimize the actuating forces at the linear actuator are found for several trajectories by using the optimization technique.

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사면체 조합을 이용한 3-6형태의 스튜어트 플랫폼의 정기구학의 새로운 해석법 (A Novel Analytic Approach for the Forward Kinematics of the 3-6-type Stewart Platform using Tetrahedron Configurations)

  • 송세경;권동수
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.430-430
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    • 2000
  • This paper presents a new analytic approach using tetrahedrons to determine the forward kinematics of the 3-6-type Stewart platform. By using of the tetrahedral geometry, this approach has the advantage of greatly reducing the complexity of formulation and the computational burden required by the conventional methods which have been solved the forward kinematics with three unknown angles. As a result, this approach allows a significant abbreviation in the formulations and provides an easier means of obtaining the solutions. The proposed method is well verified through a series of numerical simulation.

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경쟁기법을 이용한 스튜어트 플랫폼의 순기구학 해석 (The Analysis of the Forward Kinematics Using the Competitive Method in the Stewart Platform)

  • 허성준;이형상;한명철
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2001년도 춘계학술대회 논문집
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    • pp.255-258
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    • 2001
  • This introduces a improved method of the forward kinematics analysis, which finds the 6DOF motions and velocities from the given six cylinder lengths in the Steward platform. The numerical method(Newton Raphson Mehotd)of the forward kinematics analysises has the disadvantage of the long calculated time. To overcome this, we propose the competitive method that determine a proper initial value. Through the competitive method, we can select a proper initial value so that the calculate time is reduced. therefore we can give the property of the real time process to the forward kinematics analysis. We show the result comparing between general Newton-Raphson method and proposed one. From the result we verify the performance of the proposed method.

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턴테이블을 적용한 유인비행체 가상훈련 시뮬레이터용 스튜어트 플랫폼 개발 (Development of Stewart Platform installed Turntable for Manned Flight Virtual Training Simulator)

  • 서상원;우재훈;홍천한
    • 한국항공운항학회지
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    • 제28권4호
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    • pp.125-131
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    • 2020
  • In order to study the correlation between the pilot's cognitive ability and recovery ability by applying a physical element that can cause spatial loss of position to the pilot, a turntable was installed on the top of the motion system to give a quantitative rotational error. We propose a method of simulating flight movement to reduce a difference in feeling and an intuitive method of forward kinematic analysis.

스튜어트 플랫폼의 동역학적 최적설계를 위한 해석적인 표현 (An analytical expression for a dynamic optimal design of the stewart platform)

  • 권병희;손권
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.175-178
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    • 1997
  • This study was carried out to obtain an analytical expression for the specifications of the Stewart Platform that minimize the maximum force acting on the hydraulic cylinder. The position and orientation of the platform were calculated by means of the inverse kinematic analysis. The maximum force to be exerted on a cylinder was calculated using the Newton's second law for the case when the platform is moved along a horizontal axis with 0.6 g, the maximum translational acceleration possible. This paper suggests a mathematical model to minimize the maximum actuating force using radius and angle ratios as design variables. Finally, a fuzzy set for the minimum actuating force is proposed for this dynamic optimal design problem.

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스튜워트 플랫폼 메카니즘의 기구학적/동역학적 최적설계 (Kinematic/dynamic optimal design of a Stewart Platform mechanism)

  • 이병주;김희국;허금강
    • 제어로봇시스템학회논문지
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    • 제2권1호
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    • pp.45-52
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    • 1996
  • 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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스튜어트 플랫폼 방식 운동재현기의 다변수 견실제어에 관한 연구 (A study on robust multivariable control of stewart platform type motion simulator)

  • 정규홍;박철규;이교일
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.736-741
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    • 1992
  • The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

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