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Journal articles on the topic 'Hexapod stewart platform'

Author: Grafiati

Published: 4 June 2021

Last updated: 16 February 2022

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1

van Vuuren, Frank Janse, Yoon Soo Kim, and Kristiaan Schreve. "A Low-Cost Stewart Platform for a Radio Telescope." Applied Mechanics and Materials 300-301 (February 2013): 362–70. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.362.

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Most hexapods that are currently available on the market are expensive and have extremely high positional and orientation accuracies. Although the positional accuracy is high the viewing angle is limited to 60°. These hexapods are designed with a small viewing angle, as they are not optimised for radio telescopes. The aim of this work is to highlight the various factors that should be considered during the design of a 6-3 Stewart platform for pointing applications. These factors are illustrated by presenting the case study of a small custom hexapod that is designed, built and tested. Modelling

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2

Ramsauer, Martin, Michael Kastner, Paolo Ferrara, Ronald Naderer, and Hubert Gattringer. "A Pneumatically Driven Stewart Platform Used as Fault Detection Device." Applied Mechanics and Materials 186 (June 2012): 227–33. http://dx.doi.org/10.4028/www.scientific.net/amm.186.227.

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This paper investigates the sensorless detection and evaluation of inner oscillations of unknown test objects mounted on a compliant test bench. The principle of the sensorless analysis is that test objects are not totally rigid in reality. This means one or more parts of the test objects are oscillating with different eigenfrequencies compared to their rigid equivalent. By comparing eigenfrequencies of both (rigid and fault test object) oscillating parts are detectable. The aim of this experiment is to demonstrate the use of a 6 DOF compliant Stewart platform (alternatively used in a simulati

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3

Gwiazda, Aleksander, Krzysztof Herbuś, Gabriel Kost, and Piotr Ociepka. "Motion Analysis of Mechatronic Equipment Considering the Example of the Stewart Platform." Solid State Phenomena 220-221 (January 2015): 479–84. http://dx.doi.org/10.4028/www.scientific.net/ssp.220-221.479.

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Modern CAD/CAE allows supporting the process of design and construction at many stages, from concept development through specific engineering calculations to the creation of design documentation. In the case of constructing mechanisms, the kinematic and dynamic analysis of the proposed system is an important step in the introduced process. The paper presents an example of the kinematic and dynamic analysis of the Stewart platform using Siemens NX software [1, 2]. The conducted investigation has allowed determining the geometric characteristics of the mechanism of the Stewart platform as well a

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4

Ren, Rui, Chang Chun Ye, and Guo Bin Fan. "Analyses of Error and Precision of 6-DOF Platform." Advanced Materials Research 591-593 (November 2012): 2081–86. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.2081.

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A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual

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5

Pernkopf, F., and M. L. Husty. "Workspace Analysis of Stewart-Gough-Type Parallel Manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 220, no. 7 (2006): 1019–32. http://dx.doi.org/10.1243/09544062jmes194.

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In this paper, for the first time, a complete analysis of the reachable workspace of a spatial Stewart—Gough platform with planar base and platform (SGPP) is presented. The devised workspace algorithms are applied to a commercial 6–6 design. Major importance is given to the visualization of the results of this workspace analysis to provide fast information to the designer on the overall kinematic behaviour of the designed mechanism. Furthermore, it is shown that the reachable workspace also gives the necessary information on how to construct a building enclosing all motion instances of an actu

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6

Palamar, Mykhailo, Yuriy Pasternak, Vira Pasternak, Stepan Mashtalyar, and Sergiy Shevchuk. "Analysis of accuracy control improvement methods of antenna system mechanisms based on stewart platform." Scientific journal of the Ternopil national technical university 100, no. 4 (2020): 55–61. http://dx.doi.org/10.33108/visnyk_tntu2020.04.055.

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The purpose of this article is to identify and investigate the factors affecting the accuracy of the control mechanism. The analysis has shown that the accuracy of the structure control is also affected by the cardan connection, including those associated with its manufacturing error. The analysis made it possible to propose methods for improving the hexapod design and control accuracy.

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7

Pugazhenthi, S., T. Nagarajan, and M. Singaperumal. "Optimal trajectory planning for a hexapod machine tool during contour machining." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 216, no. 12 (2002): 1247–57. http://dx.doi.org/10.1243/095440602321029481.

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This paper addresses the problem of optimal trajectory planning for Stewart platform based machine tools. The objectives are to maximize the stiffness of the structure and to minimize the force requirement of the actuators while satisfying the constraints of workspace and singularity. A computational algorithm for searching the optimum location of machining trajectory is developed. The algorithm is applied to two contour machining examples involving end milling. The simulation results of contour machining along the optimal trajectory are discussed.

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8

Nashawati, Nael, Chadi Albitar, and Alaa Dib. "The evaluation of two methods for active vibration damping using RUS Hexapod platform." Transactions of the Institute of Measurement and Control 41, no. 5 (2018): 1207–15. http://dx.doi.org/10.1177/0142331218774398.

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This paper presents a study on active vibration Isolation using RUS (revolute joint, universal joint, spherical joint) structure of Stewart platform, as it is less expensive and easier to build than PSS (prismatic joint, spherical joint, spherical joint) structure, which is used a lot in this field. Two control methods are proposed; the fuzzy logic method and the adaptive feed forward control method with multiple error least mean square. Results are evaluated using the SimMechanics toolbox under Matlab 2014 with white noise signals to simulate vibrations. In addition, practical measured accele

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9

Zhuang, Hanqi, Lixin Liu, and Oren Masory. "Autonomous Calibration of Hexapod Machine Tools1." Journal of Manufacturing Science and Engineering 122, no. 1 (1997): 140–48. http://dx.doi.org/10.1115/1.538893.

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Hexapod machines are emerging as a new type of CNC machine tools. Among other things, stringent calibration is an important means to improve their accuracy. Traditionally, to perform system calibration, one needs to measure a number of machine poses using an external measuring device. However, this process is often labor-intensive and invasive, and difficult for on-line calibration. In this paper, a systematic way of self-calibrating a hexapod machine tool is introduced. By adding a small number of redundant internal sensors, errors of the hexapod machine tool can be measured. This approach ha

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10

Hernández-Gómez, J. J., I. Medina, C. R. Torres-San Miguel, et al. "Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage." Mathematical Problems in Engineering 2018 (October 3, 2018): 1–10. http://dx.doi.org/10.1155/2018/9592623.

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In this work we develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms. We propose the estimation error method to include manufacture, assembly, backlash, and sensing errors. We provide the error transmission matrices for the length of each leg of the hexapod, which permits evaluation of the accuracy error in the position of each one, given a desired position and orientation of the mobile platform. We also present numerical modelling in order to estimate the accuracy of the methodology herein proposed, for specific attitude opera

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11

Margaritescu, Mihai, Ana Maria Eulampia Ivan, Vlad Vaduva, and Cornel Brisan. "Extended Mobility Carried Out with a Double Hexapod Robot." Solid State Phenomena 166-167 (September 2010): 271–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.271.

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The double hexapod robot consists in two staged hexapod platforms – Stewart Gough platforms - combining in a certain measure the advantages of the robots with parallel kinematics and of the serial robots: high accuracy, high stiffness, fast response and small dimensions, having an extended operating space. Different modelling and construction aspects were described in few previous articles. Some examples of trajectories generated with this positioning system are now presented to illustrate its mobility, as well as the workspaces for one and two hexapods in order to make possible a visual compa

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12

Silva, Maicon Herverton Lino Ferreira da, Augusto José da Silva Rodrigues, Robson Fernandes Barbosa, and Marcelo Mendonça Teixeira. "Development of 3D learning objects for orthopedics, with the support of the Scrum framework." Journal on Advances in Theoretical and Applied Informatics 3, no. 1 (2017): 54. http://dx.doi.org/10.26729/jadi.v3i1.2444.

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The Stewart Platforms (SP) bring relevant contributions to handling 3D environments. Among these contributions, the Ilizarov Hexapod Systems (IHS) are developed, aimed at correcting bone deformities. Thus, with the support of the Scrum framework, the development of a set of four 3D learning objects (3DLOs) was carried out, and was then evaluated by eight orthopedic doctors and eleven orthopedic residents. Finally, the contributions of the use of the software engineering Scrum framework in the construction of 3DLOs and its effectiveness as an instructional mechanism in IHS teaching-learning med

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13

Zhou, Hui, Yi Cao, Baokun Li, Meiping Wu, Jinghu Yu, and Haiwei Chen. "Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators Based on Singularity-Equivalent-Mechanism." International Journal of Advanced Robotic Systems 9, no. 1 (2012): 9. http://dx.doi.org/10.5772/45664.

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This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6-Gough-Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6-Gough-Stewart manipulators according to the screw theory, a cubic polynomial expression in the moving platform position parameters that represents the position-singularity locus of the manipulator in a three-dimensional space is derived. Graphical representations of the position-singularit

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14

Tuan, Pham Anh. "Special Issue on Parallel Structures in Manufacturing and Robotics." International Journal of Automation Technology 4, no. 4 (2010): 325. http://dx.doi.org/10.20965/ijat.2010.p0325.

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The first parallel robot – a hexapod – although invented and built in 1947 by Dunlop Tyres’ Dr. Eric Gough, is still commonly known as the Steward Platform after Dr. D. Steward, who published the first research paper on the parallel structure. This opened a new era in parallel structures, which find applications in numerous industries thanks to their many advantages over their serial counterparts, including high-speed, high-accuracy operations, high rigidity, and use in limited workspace. The most noticeable of these are flight and vehicle simulators and high-speed, high-precision machining ap

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15

Wang, Yu-X., Y.-T. Li, and R.-Q. Guo. "Study on the method for 6-SPS Gough—Stewart platforms to pass through type-II singular points with its original configuration." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 4 (2008): 723–36. http://dx.doi.org/10.1243/09544062jmes863.

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It is well known that there exist many more singularities in parallel manipulators. At the singular point, the motion of the parallel manipulator is uncertain. In order to make parallel manipulators produce concrete output at singular points, and go away from singular points with the desired configuration, the method for the manipulator to pass through type-II singularities with its original configuration has been investigated in the paper. First, the semi-regular hexagon Gough—Stewart manipulator is taken as an example to analyse the configuration bifurcation characteristics at the vicinities

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16

Matich, Sebastian, Markus Hessinger, Mario Kupnik, Roland Werthschützky, and Christian Hatzfeld. "Miniaturized multiaxial force/torque sensor with a rollable hexapod structure." tm - Technisches Messen 84, s1 (2017). http://dx.doi.org/10.1515/teme-2017-0046.

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AbstractMiniaturized force/torque sensors are relevant components for robotic interaction with humans and unknown environments. This paper presents a disruptive manufacturing process for multiaxial force/torque sensors based on a Stewart-Gough platform. The deformation element consists of a hexapod geometry with six sensing elements with a total diameter of 9 mm. The sensor manufacturing process is divided into three steps: 1. Milling a planar arrangement of sensing elements out of a 2 mm steel (1 .4301) plate, 2. applying twelve strain gauges in half-bridge configuration and 3. rolling the el

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17

Zuo, Zongyu, Jiahao Wang, Heng Wang, and Qiang Wang. "Passive vibration isolation of flexure jointed hexapod: A geometry design method." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, September 1, 2020, 095440622095448. http://dx.doi.org/10.1177/0954406220954483.

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This paper presents the passive vibration isolation problem for a specific kind of Stewart Platform called flexure jointed hexapod (FJH). For purpose of analyzing the relationship between passive vibration isolation and parameters of the FJH, an existing dynamic model of the hexapod is re-cast appropriately to obtain the transfer function matrix from disturbance to generalized coordinates of the payload. Then, the system natural frequencies and the corresponding damping ratios are derived analytically. To guarantee the effective disturbance attenuation and isolation, a lower bound of the distu

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18

FILINA, Marina A., Nadezhda Yu KOSTIKOVA, Vladimir V. PETROV, et al. "Alignment-and-metrological facility for fine adjustment of antenna linear and angular position during spacecraft assembly." Space engineering and technology, August 15, 2019, 48–56. http://dx.doi.org/10.33950/spacetech-2308-7625-2019-3-48-56.

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The paper discusses issues involved in fine adjustment of the linear and angular position of antenna system reflectors on a spacecraft (SC) during its assembly using an alignment-and-metrology facility that has been developed, which consists of a 6-DOF pointing device and a laser coordinate measurement tracker. Achieving the specified linear and angular positions of antenna system elements in the SC datum reference frame, reducing human effort and time needed to perform this processing operation is an important task when building a spacecraft. To address this problem, a procedure was developed

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19

"DIRECT DYNAMICS OF GOUGH-STEWART HEXAPOD PLATFORMS USING THE REDUNDANT PARAMETERIZATION OF ROTATIONS BY FULL ROTATION MATRICES." International Journal of Mechatronics and Applied Mechanics 1, no. 1 (2017). http://dx.doi.org/10.17683/ijomam.issue1.25.

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