Journal of Materials and Engineering Structures
Volume 5, Numéro 2, Pages 111-122
2018-06-30
Inverse Kinematics To A Stewart Platform
Authors : Petrescu Florian Ion T. . Petrescu Relly Victoria . Mirsayar Mirmilad .
Abstract
Mechanical systems in motion type parallel structures are solid, fast and accurate. Between mobile systems parallel the best known and used system is that of a Stewart platforms, as being and the oldest system, quickly, solid and accurate. The paper presents a few main elements of the Stewart platforms. In the case where a motto element consists of a structure composed of two elements in a relative movement from the point of view of the train of propulsion and especially in the dynamic calculations, it is more convenient to represent the motto element as a single moving item. The paper presents an exact, original analytical geometry method for determining the kinematic and dynamic parameters of a parallel mobile structure. Compared with other methods already known, the presented method has the great advantage of being an exact analytical method of calculation and not one iterative-approximately.
Keywords
Mechatronics; Robotics; Parallel moving; Stewart structure
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