SYNCHRONIZATION IN REAL TIME OF TWO STEWART PLATFORMS

被引：0

作者：

Rossell, Josep M. ^{[1
]}

Vicente-Rodrigo, Jesus ^{[2
]}

Barcons, Victor ^{[2
]}

机构：

[1] Univ Politecn Catalunya UPC, Dept Math, Barcelona, Spain

[2] Univ Politecn Catalunya UPC, EMIT, Barcelona, Spain

来源：

7TH INTERNATIONAL CONFERENCE INTEGRITY-RELIABILITY-FAILURE (IRF2020) | 2020年

关键词：

Stewart platforms; parallel robots; synchronization; real-time control;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents two mechanisms that have been designed, built and put into operation by our research team at the Universitat Politecnica de Catalunya (UPC), Barcelona (Spain) which have many practical applications in the scientific, industrial and academic fields: the Stewart platforms. They are electromechanical systems capable of moving with six degrees of freedom, that is, three translations and three rotations that allow simulating the movement of any object in the space. The characteristics of a Stewart platform for its design, assembly and construction are presented. However, the main contribution of this paper is to demonstrate that it is possible to synchronize, in real time, both platforms when one of them is randomly moving and the other follows with high precision the movements of the first platform. The details about the algorithms and synchronization method are provided.

引用

页码：965 / 970

页数：6

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