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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-09-07 lun. 23:16 -->
<!-- 2021-01-08 ven. 15:30 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Stewart Platforms</title>
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<a accesskey="h" href="index.html"> UP </a>
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</div><div id="content">
<h1 class="title">Stewart Platforms</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgff0bfd7">1. Simulink Project (link)</a></li>
<li><a href="#org38b9089">2. Stewart Platform Architecture Definition (link)</a></li>
<li><a href="#orgf1c7b3b">3. Simscape Model of the Stewart Platform (link)</a></li>
<li><a href="#org369c8bb">4. Kinematic Analysis (link)</a></li>
<li><a href="#org2e3169e">5. Identification of the Stewart Dynamics (link)</a></li>
<li><a href="#org0fdb910">6. Control</a></li>
<li><a href="#org1f468b1">7. Cubic Configuration (link)</a></li>
<li><a href="#orga2bd0e9">8. Bibliography (link)</a></li>
<li><a href="#orgad01eeb">1. Simulink Project (link)</a></li>
<li><a href="#orgf0936f9">2. Stewart Platform Architecture Definition (link)</a></li>
<li><a href="#org4bef8ba">3. Simscape Model of the Stewart Platform (link)</a></li>
<li><a href="#orgfd134cc">4. Kinematic Analysis (link)</a></li>
<li><a href="#org2e5eede">5. Identification of the Stewart Dynamics (link)</a></li>
<li><a href="#orgb272d52">6. Control</a></li>
<li><a href="#org7c7008e">7. Cubic Configuration (link)</a></li>
<li><a href="#org1f2f2c6">8. Bibliography (link)</a></li>
</ul>
</div>
</div>
@@ -44,8 +40,8 @@ The project is divided into several section listed below.
The git repository of the project is accessible <a href="https://git.tdehaeze.xyz/tdehaeze/stewart-simscape">here</a>.
</p>
<div id="outline-container-orgff0bfd7" class="outline-2">
<h2 id="orgff0bfd7"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2>
<div id="outline-container-orgad01eeb" class="outline-2">
<h2 id="orgad01eeb"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2>
<div class="outline-text-2" id="text-1">
<p>
The project is managed with a <b>Simulink Project</b>.
@@ -54,8 +50,8 @@ Such project is briefly presented <a href="simulink-project.html">here</a>.
</div>
</div>
<div id="outline-container-org38b9089" class="outline-2">
<h2 id="org38b9089"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
<div id="outline-container-orgf0936f9" class="outline-2">
<h2 id="orgf0936f9"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
<div class="outline-text-2" id="text-2">
<p>
The way the Stewart Platform is defined is explained <a href="stewart-architecture.html">here</a>.
@@ -80,8 +76,8 @@ Other parameters are also defined such as:
</div>
</div>
<div id="outline-container-orgf1c7b3b" class="outline-2">
<h2 id="orgf1c7b3b"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
<div id="outline-container-org4bef8ba" class="outline-2">
<h2 id="org4bef8ba"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
<div class="outline-text-2" id="text-3">
<p>
The Stewart Platform is then modeled using <a href="https://www.mathworks.com/products/simscape.html">Simscape</a>.
@@ -93,8 +89,8 @@ The way to model is build and works is explained <a href="simscape-model.html">h
</div>
</div>
<div id="outline-container-org369c8bb" class="outline-2">
<h2 id="org369c8bb"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
<div id="outline-container-orgfd134cc" class="outline-2">
<h2 id="orgfd134cc"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-4">
<p>
From the defined geometry of the Stewart platform, we can perform static analysis such as:
@@ -114,8 +110,8 @@ All these analysis are described <a href="kinematic-study.html">here</a>.
</div>
</div>
<div id="outline-container-org2e3169e" class="outline-2">
<h2 id="org2e3169e"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
<div id="outline-container-org2e5eede" class="outline-2">
<h2 id="org2e5eede"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
<div class="outline-text-2" id="text-5">
<p>
The Dynamics of the Stewart platform can be identified using the Simscape model.
@@ -136,8 +132,8 @@ The code that is used for identification is explained <a href="identification.ht
</div>
</div>
<div id="outline-container-org0fdb910" class="outline-2">
<h2 id="org0fdb910"><span class="section-number-2">6</span> Control</h2>
<div id="outline-container-orgb272d52" class="outline-2">
<h2 id="orgb272d52"><span class="section-number-2">6</span> Control</h2>
<div class="outline-text-2" id="text-6">
<p>
The use of active control for Stewart platforms is a wide subject.
@@ -180,8 +176,8 @@ Different control architectures (centralized and decentralized) are compared for
</div>
</div>
<div id="outline-container-org1f468b1" class="outline-2">
<h2 id="org1f468b1"><span class="section-number-2">7</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div id="outline-container-org7c7008e" class="outline-2">
<h2 id="org7c7008e"><span class="section-number-2">7</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
The cubic configuration is a special class of Stewart platform that has interesting properties.
@@ -193,8 +189,8 @@ These properties are studied in <a href="cubic-configuration.html">this</a> docu
</div>
</div>
<div id="outline-container-orga2bd0e9" class="outline-2">
<h2 id="orga2bd0e9"><span class="section-number-2">8</span> Bibliography (<a href="bibliography.html">link</a>)</h2>
<div id="outline-container-org1f2f2c6" class="outline-2">
<h2 id="org1f2f2c6"><span class="section-number-2">8</span> Bibliography (<a href="bibliography.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<p>
Many text books, PhD thesis and articles related to parallel robots and Stewart platforms are gathered in <a href="bibliography.html">this</a> document.
@@ -204,7 +200,7 @@ Many text books, PhD thesis and articles related to parallel robots and Stewart
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-09-07 lun. 23:16</p>
<p class="date">Created: 2021-01-08 ven. 15:30</p>
</div>
</body>
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