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Dissertations / Theses on the topic 'Stewart Platform'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Korgo, Tomáš. "Hexagonální platforma se servořízením." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2014. http://www.nusl.cz/ntk/nusl-236146.

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Goal of the thesis is to show the possibilities of using ordinary hobbyist RC servos and means of their control by a computer. For demonstration of the capabilities of servos, we have created Stewart platform which is using hobbyist servos to position the platform. In the thesis there is explained principle of the inner working of a servo, their properties, abilities and also means of their control by a computer. In practical chapters of the thesis there is documented process of designing and implementing of functional Stewart platform along with specific properties of this platform which infl

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2

Rathbun, Geoffrey P. "A Stewart Platform six-axis milling machine development." Thesis, University of Canterbury. Engineering, 1986. http://hdl.handle.net/10092/6421.

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This manuscript describes the development of an experimental NC milling machine having control over all the 6 bodily degrees of freedom of movement. The mechanism used is called a Stewart Platform. These mechanisms have a platform connected to a base by 6 variable length "legs". The Stewart Platform is considered to have good potential as a rigid 5 axis milling machine having a simpler structure than conventional machines. Platform motion is achieved by pre-calculated movements of 6 stepper motors which actuate leg mounted lead screws. These movements are controlled using microcomputer contr

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3

Patil, Gaurav. "Stewart Platform Actuator for Direct Access Cochlear Implant." University of Cincinnati / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1439296078.

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4

GaragiÄ‡, Denis. "Contouring control of Stewart platform based machine tools /." The Ohio State University, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486402288261907.

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5

Abu, Hanieh Ahmed. "Active isolation and damping of vibrations via stewart platform." Doctoral thesis, Universite Libre de Bruxelles, 2003. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/211336.

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In this work, we investigate the active vibration isolation and damping of sensitive equipment. Several single-axis isolation techniques are analyzed and tested. A comparison between the sky-hook damper, integral force feedback, inertial velocity feedback and LagLead control techniques is conducted using several practical examples.<p><p>The study of single-axis systems has been developed and used to build a six-axis isolator. A six degrees of freedom active isolator based on Stewart platform has been designed manufactured and tested for the purpose of active vibration isolation of sensitive pa

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6

Mele, Paul A. "Mechanical design of a Stewart platform-based crawling vehicle." Thesis, This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-03172010-020439/.

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7

Březina, Lukáš. "Optimization of a Parallel Mechanism Design with Respect to a Stewart Platform Control Design." Doctoral thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-233905.

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Předkládaná práce se zabývá návrhem modelu dynamiky paralelního manipulátoru optimálního pro účely návrhu řízení. Zvolený přístup je založen na modelování dynamiky systému v simulačním prostředí Matlab SimMechanics následovaném linearizací modelu. Výsledný stavový lineární model mimo jiné umožňuje snadné posouzení řiditelnosti a pozorovatelnosti modelu. Díky své relativní jednoduchosti je model také výpočetně nenáročný. Přístup je demonstrován na návrhu dvouvrstvého řízení SimMechanics modelu Stewartovy platformy, na kterém bylo následně navržené řízení úspěšně testováno. Podstatná část práce

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8

Fouda, Khaled. "Machine d'essai de prothèse pour Transtibial et Transfemoral." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV106.

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L'objectif de ce travail est de construire une machine d'essai pour la prothèse. La machine doit être capable de reproduire les mêmes conditions dynamiques et cinématiques appliquées sur la prothèse pendant l'utilisation normale.Le nombre d'amputation et les causes d'amputation ont été recueillis. Différents types de prothèses ont été classés selon la prothèse de jambe par hauteur d'amputation, prothèse passive et active, différenciées par la nature de leur actionneur. La plupart des machines d'essai pour la prothèse ont été étudiées à partir de la prospective technologique et capacitaire. Dét

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9

Li, Feng Frank. "Design and analysis of fingertip Stewart Platform force/torque sensor." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0020/MQ37577.pdf.

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10

Houdek, Philip J. (Philip Joseph). "Design and implementation issues for Stewart Platform configuration machine tools." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/43418.

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11

Gong, Youhong. "Design analysis of a Stewart platform for vehicle emulator systems." Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/34314.

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12

Albayrak, Onur. "Modeling And Real-time Control System Implementation For A Stewart Platform." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606757/index.pdf.

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This work focuses on modeling and real-time control of a motion simulator for dynamic testing of a two-axis gyro-stabilized head mirror used in modern tanks. For this purpose, a six-degree-of freedom Stewart Platform which can simulate disturbances on the stabilized head mirror during operation of the tank is employed. Mathematical models of the Stewart Platform are constructed using MATLAB and ADAMS. Control system infrastructure is constructed and real-time control system elements are employed. Controller tuning is achieved by using the developed mathematical models in MATLAB. These parame

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13

ALBUQUERQUE, ALLAN NOGUEIRA DE. "MODELING AND SIMULATION OF A STEWART PLATFORM CONTROLLED USING INERTIAL SENSORS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2012. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=21834@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO<br>CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO<br>Simuladores de movimentos são sistemas mecatrônicos que reproduzem as principais atitudes e movimentos de um veículo. Neste estudo serão analisados simuladores baseados em mecanismos com 3 e 6 graus de liberdade. No segundo caso, o mecanismo é capaz de reproduzir todos os ângulos de atitude (rolagem, arfagem e guinada) e todos os deslocamentos lineares (lateral, vertical e longitudinal) com limitações, porém com amplitude suficiente de modo a possibilitar os principais movimen

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14

Peterson, Trent R. "Design and Implementation of Stewart Platform Robot for Robotics Course Laboratory." DigitalCommons@CalPoly, 2020. https://digitalcommons.calpoly.edu/theses/2124.

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A Stewart Platform robot was designed, constructed, and programmed for use in Cal Poly’s ME 423 Robotics: Fundamentals and Applications laboratory section. A Stewart Platform is a parallel manipulator robot with six prismatic joints that has six degrees of freedom, able to be defined in both position and orientation. Its purpose is to supplement parallel robot material covered in lecture. Learning objectives include applying and verifying the Stewart Platform inverse kinematics and investigating the Stewart Platform’s operation, range of motion, and limitations. The Stewart Platform geometry a

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15

Harib, Khalifa H. "Dynamic modeling, identification and control of Stewart platform-based machine tools /." The Ohio State University, 1997. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487946103568498.

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16

Ruiz, Maria Rosa S. B. Massachusetts Institute of Technology. "Design and analysis of a Stewart-platform-based six-axis load cell." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/112395.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (page 43).<br>In this work, a six-axis load cell based on the geometry of a Stewart platform was developed. Its geometry and functional requirements were motivated by the needs of robotic limbs designed to be attached to human workers to support them in typically unergonom

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17

Fong, Terrence W. "Design and testing of a Stewart Platform Augmented Manipulator for space applications." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/43002.

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18

Smit, Willem Jacobus. "The optimal design of a planar Stewart platform for prescribed machining tasks." Diss., Pretoria : [s.n.], 2000. http://upetd.up.ac.za/thesis/available/etd-01122007-134416/.

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19

Luzi, Luca <1988&gt. "A new overconstrained Gough-Stewart platform-based manipulator operating under force control." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amsdottorato.unibo.it/9025/3/Luzi_Luca_tesi.pdf.

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In vitro tests are essential to better understand the human joint behavior and to design more accurate prostheses and orthoses. In the literature, several test rigs have been presented that can be used to characterize the human joints for specific applications but poorly fit into the study when more general conditions are required. In 2014 the Group of Robotics, Automation and articular Biomechanics (GRAB) of the University of Bologna built an in vitro test rig that overcame these limitations. Even though the machine is capable to work with high accuracy, some improvements can be done in order

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20

Grogan, Andrew S. "A Low Cost, Portable Stewart Platform Study for Flight Simulation and Gaming Simulation." Ohio University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1606121360298874.

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21

Du, Plessis Lukas Johannes. "Design and optimum operation of a re-configurable planar Gough-Stewart machining platform." Thesis, Pretoria : [s.n.], 2001. http://upetd.up.ac.za/thesis/available/etd-10312005-140405/.

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22

Grewal, Karmjit Singh. "Model-based fault detection and control design - applied to a pneumatic Stewart-Gough platform." Thesis, Loughborough University, 2010. https://dspace.lboro.ac.uk/2134/6243.

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The safety and functionality of engineering systems can be affected adversely by faults or wear in system components. Therefore, methods for detecting such faults/wear and ameliorating their effects to avoid system failure are important. Designing schemes for the detection and diagnosis of faults is becoming increasingly important in engineering due to the complexity of modern industrial systems and growing demands for quality, cost efficiency, reliability, and the safety issue. In safety/mission critical applications, fault detection can be combined with accommodation/reconfiguration (after a

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23

Ho, Hsu-Feng, and 何旭峰. "Stewart Platform Interactive Motion Controller Design." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/96555104263395272101.

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碩士<br>國立臺灣大學<br>機械工程學研究所<br>87<br>This thesis addresses the on-line servo system design for a Stewart platform. The conventional servo design for the Stewart platform depends on the well-known inverse kinematics to calculate off-line the desired motion trajectory. The servo system then reflects the desired attitude by achieving the required leg lengths from the inverse kinematics calculation. This approach does not allow any on-line attitude feedback or any sudden change in the attitude command. In this thesis, we restructured the servo control scheme for the Stewart platform. The new design i

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24

Hsieh, Ching-Chi, and 謝清吉. "A Study of Piezoelectric Stewart Platform." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/56065920563825268002.

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碩士<br>清雲科技大學<br>機械工程研究所<br>93<br>Under the development of precise industry of today, have already tiny become the current situation and hastened with melted, it is as to enduring Nano-grade of the demands of avigation systems getting more important day by day so, adopt piezoelectricity actuating device to design stewart platform. Because piezoelectricities including that advantage such as tiny volume, fast react, electromachanics change with high efficiency and the lowest hot creation during the actuating. So that, to research this design one large organization make journey of the piezoelectr

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25

Kuo, Jenhao, and 郭仁豪. "Stewart Platform Motion and Stress Analysis." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/02992955156094305409.

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碩士<br>正修科技大學<br>機電工程研究所<br>100<br>This paper mainly explores on the stress analysis and safety factor of the key components used in the 6-DOF motion platform for traveling. It’s a spatial parallel motion mechanism that passing through the length of the six elastic support bars to accomplish the six different basic motions of the platform and its combinations. It’s also a set of multi-field technology in a motion control mechanism. The motion simulation platform can be driven through servo-hydraulic system or electric system. 6-DOF motion platform is mainly used in simulating different motions

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26

Chang, Wu Tung, and 吳東璋. "A driving simulator based on Stewart platform." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/3bc6tx.

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27

Hsien, Lin Yui, and 林育賢. "Analysis and control of Hexaglide Stewart platform." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/78009324644975537003.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>88<br>Expanding the facilities of traditional Stewart platform, the thesis foucses on hexaglide Stewart platform.Firstly, the thesis analyses the kinematics and dynamics of hexaglide Stewart platform in general form, and solves the forward kinematic equation, inverse kinematic equation, dynamic equation, and inverse dynamic equation of the general form. Then we apply these equations to the specific form, which is include parallel hexaglide platform and triangle hexaglide platform. The hexaglide Stewart platform is a nonlinear system. For achieving the hi

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28

Chen, Li-Ying, and 陳立穎. "Simplified Dynamic Models of the Stewart Platform." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/98677481570903856840.

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29

CHEN, YU-XIANG, and 陳玉祥. "Fuzzy logic control of the stewart platform." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/40710941434720895949.

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30

Wang, Chun-Chih, and 王俊智. "Robust Attitude Control of a Stewart Platform." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/04574213936112227524.

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碩士<br>國立臺灣大學<br>機械工程學系研究所<br>86<br>Traditional control of the Stewart platform places stress on the performance of the linear actuators so that the attitude of the platform can be determined by static inverse kinematics. This approach is gradually loosing its advantage due to the demand on the positioning accuracy and the increased computation power on a single dedicated processor. Based on the iteration type forward kinematics calculation, one can determine the platform attitude on-line. As a result, dir

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31

Pradeep, R. "Workspace Analysis Of The Stewart Platform Manipulator." Thesis, 1998. https://etd.iisc.ac.in/handle/2005/2177.

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Pradeep, R. "Workspace Analysis Of The Stewart Platform Manipulator." Thesis, 1998. http://etd.iisc.ernet.in/handle/2005/2177.

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33

Chiang, Chih Bin, and 姜智彬. "Design and Development of Stewart-Platform CNC Machine." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/19420354257793314786.

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碩士<br>中原大學<br>機械工程學系<br>88<br>This project is to establish the techniques for development of a 6-6 parallel-platform type CNC machine system. The techniques include structure design and mechanism design for platform, system calibration, 6-cylinder platform control, platform fabrication, 5-axis machining programming. Machine tool chatter is a self-exited vibration between the working material and cutting tool which develops under certain machining condition. High speed machining is usually accompanied with the increased tendency toward chatter vibrations, which affects machining accu

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34

CHIANG, CHING-LIU, and 江青流. "Design and Dynamic Simulation of the Stewart Platform." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/23571584262660914942.

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碩士<br>逢甲大學<br>材料與製造工程所<br>97<br>In this paper, we present our designed hydraulic Stewart platform constructed with PID controlled hydraulic actuators. For optimizing the PID parameters, we construct the mathematic model of the Stewart platform and adopt the Predict Squares Error as the performance measure. For observing the dynamic behavior of our designed hydraulic Stewart platform, we adopt the MATLAB/Simulink software package to set up the Stewart platform model. For any given control input trajectory, we convert it into the six individual hydraulic servo reference input signals by equation

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35

HUANG, C. M., and 黃加閔. "Design and Simulation of a New Stewart platform." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/43695990305349892530.

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碩士<br>清雲科技大學<br>機械工程研究所<br>94<br>The systematic miniaturization and precise demand makes a reservation increase day by day to endure the device development of the nano industry. The research uses double-layer flexure enlarge hinge that the negative passion’s ratio structure to design 6 axle stage with asymmetry enlarge mechanical structure design mainly of micro stewart platform. This stage reach the high accuracy and the demand relatively small-scale in volume. The appearance size of base plate and moving plate is 70mm and 10mm respectively, and the height is only 20mm. The integrated chain

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36

黃啟倫. "3-DOF mechanical performance analysis of Stewart platform." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/03895962394431303165.

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37

Qiu, Sheng-Yi, and 邱聖義. "Analysis and Control of a Hexaglide Stewart Platform." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/04742167292852707082.

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碩士<br>國立臺灣科技大學<br>電機工程系<br>89<br>Abstract This thesis investigates the analysis and control of a non-conventional Regular Triangle Hexaglide Stewart Platform which is applied to game machines. The thesis consists of theoretical development and experiments. The platform equations in generalized forms are first derived, they are then applied to solve the forward kinematic, inverse kinematic, dynamic, and inverse dynamic equations. The analysis of working space and platform singularity shows that there does not exist a singular point in the working space. This thesis also s

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林建豪. "Direct Adaptive Control for Six-DOF Stewart Platform." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/55609837267029810297.

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碩士<br>國立中興大學<br>機械工程學系<br>92<br>In this thesis, two stable direct adaptive fuzzy controllers for six-DOF Stewart platforms are proposed. By considering a fuzzy function approximator to compensate for the effects of friction and a nonlinear damping for model uncertainty, a proper Lyapunov function candidate is selected, then two stable direct adaptive fuzzy controllers with parameter adaptation laws using —modification and —modification, respectively, are derived using Lyapunov stability theory. Computer simulations and implementation studies using a MATLAB/SIMULINK-based dSPACE DS1103 single

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Cheng, Hong-Ching, and 陳轟競. "The manufacture and control of 3PRPS stewart platform." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/56011390058364253396.

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碩士<br>國立臺灣科技大學<br>機械工程研究所<br>83<br>The ability to position end effector highly accurately is very important in the applications of robot manipulator. Due to low structural completeness of a serial robot arm the goal of high accuracy can not be easily reached. There- fore a 6 d.o.f. (degree-of-freedom) Stewart-Platform is presented in this paper. The distinct property of high stiffness of this mechanism makes it more suitable for the demands of high accuracy. The Stewart Platform is co

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40

Li, Daming. "Modeling, simulation, and control of a Stewart platform." Thesis, 1996. http://hdl.handle.net/2429/5959.

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This thesis describes the modeling, simulation, and control of an inverted, ceiling-mounted Stewart platform, which is designed to be a motion simulator. This hydraulically actuated Stewart platform is capable of providing 10 m/s2, 400 degree/s2 accelerations and 1 m/s, 30 degree/s speeds to a 250 kg payload. The issues of modeling and control of such a platform are addressed here. The inverse kinematics and forward kinematics are studied first. The platform rigid-body dynamics are derived based on the virtual work principle and then combined with the actuator dynamics to simulate the r

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HUNG, TZU-JEN, and 洪子仁. "The analysis of bearing block of Stewart Platform." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/c38g53.

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碩士<br>正修科技大學<br>機電工程研究所<br>107<br>The purpose of this thesis is to assist in the analysis of the institutional system of the ride-flight simulation somatosensory theater developed by a domestic manufacturer. The system is based on the design rule of the GB 8408 specification. The mechanism system can be divided into five parts: gate, top cover, seat, platform and vehicle. We focuses on analyzing the relevant design changes of the platform bearing sea. The mechanism system developed by the manufacturer-flight simulation somatosensory theater belongs to an application of the Stewart platform. Th

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Παπαϊωάννου, Αντώνιος. "Προσομοίωση κινηματικών εξισώσεων ορθοπεδικής διάταξης οστεογένεσης". Thesis, 2007. http://nemertes.lis.upatras.gr/jspui/handle/10889/684.

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Η διπλωματική αυτή εργασία πραγματεύεται την προσομοίωση μιας ορθοπεδικής διάταξης οστεογένεσης, την τρισδιάστατη απεικόνιση αυτής από κατασκευαστικής άποψης καθώς και την πλήρη μελέτη της κίνησης αυτής με τον προγραμματισμό της ορθής και αντίστροφης κινηματικής. Πιο συγκεκριμένα η μελέτη που γίνεται αφορά το είδος πλατφόρμας Stewart και χρήση αυτής ως εξωτερικής συσκευής οστεογένεσης. Πρωτεύον μέλημά μας αποτελεί η περιγραφή του φαινομένου της οστεογένεσης και η κατανόηση της λειτουργίας και ανάπτυξης των οστών (Κεφάλαιο 2). Στη συνέχεια προβαίνουμε σε μια αναλυτική παρουσίαση των συσκευών

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fan, cheng wei, and 鄭偉凡. "The study of Ship Motion Representation via Stewart Platform." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/59048190608436999954.

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碩士<br>國立高雄海洋科技大學<br>輪機工程研究所<br>94<br>In this paper, the position control of stewart platform’s six hydraulic actuators to represent the ship motion by using sliding mode controller is investigated. The stewart platform is a parallel manipulator who with a movable upper platform and a fixed base connected by six linkers that the length of the linker are changeable. when each link length all can be controlled accurately, the upper platform is able to present the motion with six degree-of-freedom within the allowed working space under the conditions that each linker is controlled precise. In this

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Chen, Jiung Rong, and 陳俊榮. "Design and Control of a Stewart Platform-Based Manipulator." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/81661059154461826943.

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45

Lau, Han-Lun, and 劉翰綸. "The Iterative Learning Control of a Stewart Platform System." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/27392374188190791094.

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碩士<br>大葉大學<br>機電自動化研究所碩士班<br>93<br>An iterative learning controller (ILC) adjusts the learning parameters by repeating control operations. Tracking error from a previous stage is used as the correction factor for the next control action. By this way, a ILC can minimize the tracking error within a limited number of iterations. In this study, a Stewart Platform is built to implement tracking control experiments. The kinematic equations of the Stewart Platform are found by considering the relationship between the center of the upper-plate, which has six degrees of freedom, and six hydraulic legs.

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Guo, Chuang-Han, and 郭樟漢. "Singularity Analysis of the 3-R Type Stewart Platform." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/90305295736714679169.

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Guo, Zhang-Han, and 郭樟漢. "Singularity Analysis of the 3-R type Stewart Platform." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/80098975799332076609.

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Chiang, Che-Hsueh, and 蔣哲學. "The Application of Learning Control for the Stewart Platform." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/62781476655552437590.

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碩士<br>中華大學<br>機械與航太工程研究所<br>87<br>Recently, using the Stewart Platform as the basic structure for a machine tool is becoming popular. The iterative learning control is a suitable method for improving the machine tool performance. The purpose of this thesis is applying the learning control method on the six-leg Stewart Platform to improve its kinematic behavior. First, by using the inverse kinematics and the specified trajectory of the platform, the necessary kinematic behavior of each actuating rod is obtained. An approximate linear equation is also used to represent the nonlinear e

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LEE, HSIN-MIN, and 李新民. "Workspace determination and trajectory planning of the stewart platform." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/18073239049536877764.

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碩士<br>國立臺灣大學<br>電機工程學系<br>85<br>The parallel manipulators have recently attracted quite some interests in industry and academia. Among them, the most well-known example is the Stewart Platform. With its parallel structure, it has specific advantages, such as high force- to-weight ratio, high position accuracy and high rigidity. Contrary to the serial manipulators, the inverse kinematics of the Stewart Platform is very straight-forward. While its forward kinematics is complic

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MAO, LU SHIN, and 盧世茂. "The Design and Simulation of Electrically Driven Stewart Platform." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/73782935759915228859.

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碩士<br>國立交通大學<br>電機與控制工程系<br>88<br>The Keypoint of the Thesis is about the Analysis of Kinematic , Workspace , Dynamic , and Singularity Points of Stewart Platform . To combine the Simulation of Adams and the Program of Matlab , to build a completely design procedure , and to prove the actuarity and practibility by the actual platform . In the workspace , we according to the necessary operation range and orientations to design the size and moving range of the actuator . To analyse the force afford situationto desingn the joints . By Dynamic Analysis t

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