From e62d9098fe93c07318459275983f1041ea8721bb Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 28 Jan 2020 17:38:19 +0100 Subject: [PATCH] Add few functions for kinematic study --- index.html | 37 ++-- index.org | 3 +- kinematic-study.html | 498 +++++++++++++++++++++++++++++++++++-------- kinematic-study.org | 174 +++++++++++++++ 4 files changed, 597 insertions(+), 115 deletions(-) diff --git a/index.html b/index.html index 40fd034..46b0315 100644 --- a/index.html +++ b/index.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platforms @@ -259,8 +259,8 @@ The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewar The project is divided into several section listed below.

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1 Simulink Project (link)

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1 Simulink Project (link)

The project is managed with a Simulink Project. @@ -269,8 +269,8 @@ Such project is briefly presented here.

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2 Stewart Platform Architecture Definition (link)

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2 Stewart Platform Architecture Definition (link)

The way the Stewart Platform is defined here. @@ -281,8 +281,8 @@ All the geometrical parameters are defined including:

  • Definition of the location of the frames
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  • Size of the platforms and the limbs
  • Location/orientation of the limbs
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  • Size/inertia of the platforms and the limbs

@@ -290,14 +290,13 @@ Other parameters are also defined such as:

  • Stiffness and damping of the struts
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  • Inertia of the different elements
  • Rest position of the Stewart platform
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3 Simscape Model of the Stewart Platform (link)

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3 Simscape Model of the Stewart Platform (link)

The Stewart Platform is then modeled using Simscape. @@ -309,8 +308,8 @@ The way to model is build and works is explained h

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4 Kinematic Analysis (link)

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4 Kinematic Analysis (link)

From the defined geometry of the Stewart platform, we can perform static analysis such as: @@ -330,8 +329,8 @@ All these analysis are described here.

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5 Identification of the Stewart Dynamics (link)

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5 Identification of the Stewart Dynamics (link)

The Dynamics of the Stewart platform can be identified using the Simscape model. @@ -352,8 +351,8 @@ The code that is used for identification is explained -

6 Active Damping (link)

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6 Active Damping (link)

The use of different sensors are compared for active damping: @@ -371,8 +370,8 @@ The result of the analysis is accessible here.

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7 Motion Control of the Stewart Platform (link)

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7 Motion Control of the Stewart Platform (link)

Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in this document. @@ -380,8 +379,8 @@ Some control architecture for motion control of the Stewart platform are applied

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8 Cubic Configuration (link)

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8 Cubic Configuration (link)

The cubic configuration is a special class of Stewart platform that has interesting properties. diff --git a/index.org b/index.org index beeeffc..06c6dca 100644 --- a/index.org +++ b/index.org @@ -35,12 +35,11 @@ The way the Stewart Platform is defined [[file:stewart-architecture.org][here]]. All the geometrical parameters are defined including: - Definition of the location of the frames -- Size of the platforms and the limbs - Location/orientation of the limbs +- Size/inertia of the platforms and the limbs Other parameters are also defined such as: - Stiffness and damping of the struts -- Inertia of the different elements - Rest position of the Stewart platform * Simscape Model of the Stewart Platform ([[file:simscape-model.org][link]]) diff --git a/kinematic-study.html b/kinematic-study.html index 4ff4ed3..0758596 100644 --- a/kinematic-study.html +++ b/kinematic-study.html @@ -1,14 +1,15 @@ + - + Kinematic Study of the Stewart Platform - +