Investigation of the Stewart Platform Workspace Using MATLAB-Simulink and Simscape Multibody Library

被引：1
作者：
Petr, Noskievic [1 ]
Dominik, Walica [1 ]
机构：
[1] VSB Tech Univ Ostrava, Dept Control Syst & Instrumentat, Ostrava, Czech Republic
来源：
2020 21ST INTERNATIONAL CONFERENCE ON RESEARCH AND EDUCATION IN MECHATRONICS (REM) | 2020年
关键词：
Stewart platform; simulation model; multibody dynamics; workspace investigation;
D O I：
10.1109/REM49740.2020.9313930
中图分类号：
G40 [教育学];
学科分类号：
040101 ; 120403 ;
摘要：
The paper deals with the determination of the Stewart platform workspace using the simulation model created in the software MATLAB-Simulink and the Simscape Multibody library. The workspace investigation is performed with the use of the created simulation model that is used to find points in the space that meet certain criteria. Obtained set of points that meet defined criteria is considered as the workspace approximation for the constant orientation of the moving platform. The presented workspace approximation method can be used for the optimization of the mechanical structure of the Stewart platform and for the path planning of its moving platform.
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页数：5
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