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Modification of the Gough–Stewart Platform with Six Degrees of Freedomстатья
- Автор: Pashkov I.V.
- Журнал: Journal of Machinery Manufacture and Reliability
- Том: 4
- Номер: 53
- Год издания: 2024
- Издательство: Pleiades Publishing, Inc.
- Местоположение издательства: New York, USA
- Первая страница: 307
- Последняя страница: 313
- DOI: 10.1134/S1052618824700237
- Аннотация: The Gough–Stewart platform has occupied an important place in the manufacturing andscientific industries, making it possible to facilitate various production cycles or conduct necessaryresearch. Its development makes it possible to solve newer and more complex problems or facilitate theimplementation of existing ones. This article considers a modification of the classical platform; con-siders solutions to direct and inverse kinematics problems; implements a visualization program and acontrol algorithm, both a physical model of the platform and a virtual one; and estimates the param-eters of the platform. Direct and inverse kinematics problems are one of the main problems thatdescribe the platform; on their basis, it is possible to consider the behavior of the platform in variousconfigurations of the given parameters. The visualization program allows one not only to view thebehavior of the platform without the need to use a physical model of the platform, but also to controlthe real platform by transmitting the appropriate signals to the control circuit.
- Добавил в систему: Пашков Иван