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Thomas Dehaeze 2020-01-30 11:11:56 +01:00
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2020-01-28 mar. 17:18 --> <!-- 2020-01-29 mer. 20:24 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" /> <meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platforms</title> <title>Stewart Platforms</title>
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<body> <body>
<div id="content"> <div id="content">
<h1 class="title">Stewart Platforms</h1> <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="#orgd2c29e6">1. Simulink Project (link)</a></li>
<li><a href="#orga1d5aa6">2. Stewart Platform Architecture Definition (link)</a></li>
<li><a href="#orgd599e17">3. Simscape Model of the Stewart Platform (link)</a></li>
<li><a href="#orgb5d80d5">4. Kinematic Analysis (link)</a></li>
<li><a href="#org4a7f3fe">5. Identification of the Stewart Dynamics (link)</a></li>
<li><a href="#org7e43dac">6. Active Damping (link)</a></li>
<li><a href="#org995231f">7. Motion Control of the Stewart Platform (link)</a></li>
<li><a href="#orgea1a8ad">8. Cubic Configuration (link)</a></li>
</ul>
</div>
</div>
<p> <p>
The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms. The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
@ -259,8 +274,8 @@ The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewar
The project is divided into several section listed below. The project is divided into several section listed below.
</p> </p>
<div id="outline-container-orge0ffde8" class="outline-2"> <div id="outline-container-orgd2c29e6" class="outline-2">
<h2 id="orge0ffde8"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2> <h2 id="orgd2c29e6"><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"> <div class="outline-text-2" id="text-1">
<p> <p>
The project is managed with a <b>Simulink Project</b>. The project is managed with a <b>Simulink Project</b>.
@ -269,8 +284,8 @@ Such project is briefly presented <a href="simulink-project.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org840f439" class="outline-2"> <div id="outline-container-orga1d5aa6" class="outline-2">
<h2 id="org840f439"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2> <h2 id="orga1d5aa6"><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"> <div class="outline-text-2" id="text-2">
<p> <p>
The way the Stewart Platform is defined <a href="stewart-architecture.html">here</a>. The way the Stewart Platform is defined <a href="stewart-architecture.html">here</a>.
@ -295,8 +310,8 @@ Other parameters are also defined such as:
</div> </div>
</div> </div>
<div id="outline-container-org91daed3" class="outline-2"> <div id="outline-container-orgd599e17" class="outline-2">
<h2 id="org91daed3"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2> <h2 id="orgd599e17"><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"> <div class="outline-text-2" id="text-3">
<p> <p>
The Stewart Platform is then modeled using <a href="https://www.mathworks.com/products/simscape.html">Simscape</a>. The Stewart Platform is then modeled using <a href="https://www.mathworks.com/products/simscape.html">Simscape</a>.
@ -308,8 +323,8 @@ The way to model is build and works is explained <a href="simscape-model.html">h
</div> </div>
</div> </div>
<div id="outline-container-orgf826a60" class="outline-2"> <div id="outline-container-orgb5d80d5" class="outline-2">
<h2 id="orgf826a60"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2> <h2 id="orgb5d80d5"><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"> <div class="outline-text-2" id="text-4">
<p> <p>
From the defined geometry of the Stewart platform, we can perform static analysis such as: From the defined geometry of the Stewart platform, we can perform static analysis such as:
@ -329,8 +344,8 @@ All these analysis are described <a href="kinematic-study.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org34ceac7" class="outline-2"> <div id="outline-container-org4a7f3fe" class="outline-2">
<h2 id="org34ceac7"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2> <h2 id="org4a7f3fe"><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"> <div class="outline-text-2" id="text-5">
<p> <p>
The Dynamics of the Stewart platform can be identified using the Simscape model. The Dynamics of the Stewart platform can be identified using the Simscape model.
@ -351,8 +366,8 @@ The code that is used for identification is explained <a href="identification.ht
</div> </div>
</div> </div>
<div id="outline-container-org2c5545b" class="outline-2"> <div id="outline-container-org7e43dac" class="outline-2">
<h2 id="org2c5545b"><span class="section-number-2">6</span> Active Damping (<a href="active-damping.html">link</a>)</h2> <h2 id="org7e43dac"><span class="section-number-2">6</span> Active Damping (<a href="active-damping.html">link</a>)</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
<p> <p>
The use of different sensors are compared for active damping: The use of different sensors are compared for active damping:
@ -370,8 +385,8 @@ The result of the analysis is accessible <a href="active-damping.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org8ab41c3" class="outline-2"> <div id="outline-container-org995231f" class="outline-2">
<h2 id="org8ab41c3"><span class="section-number-2">7</span> Motion Control of the Stewart Platform (<a href="control-study.html">link</a>)</h2> <h2 id="org995231f"><span class="section-number-2">7</span> Motion Control of the Stewart Platform (<a href="control-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-7"> <div class="outline-text-2" id="text-7">
<p> <p>
Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in <a href="control-study.html">this</a> document. Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in <a href="control-study.html">this</a> document.
@ -379,8 +394,8 @@ Some control architecture for motion control of the Stewart platform are applied
</div> </div>
</div> </div>
<div id="outline-container-org46a0310" class="outline-2"> <div id="outline-container-orgea1a8ad" class="outline-2">
<h2 id="org46a0310"><span class="section-number-2">8</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2> <h2 id="orgea1a8ad"><span class="section-number-2">8</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div class="outline-text-2" id="text-8"> <div class="outline-text-2" id="text-8">
<p> <p>
The cubic configuration is a special class of Stewart platform that has interesting properties. The cubic configuration is a special class of Stewart platform that has interesting properties.
@ -392,5 +407,9 @@ These properties are studied in <a href="cubic-configuration.html">this</a> docu
</div> </div>
</div> </div>
</div> </div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-01-29 mer. 20:24</p>
</div>
</body> </body>
</html> </html>

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