From f5e4b2fd47bd817ff84dc14e6278fa33901aefef Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 28 Jan 2020 13:39:47 +0100 Subject: [PATCH] Update index.org --- index.html | 200 ++++++++++++++++++++++++++++++++++++----------------- index.org | 58 ++++++++++++---- 2 files changed, 180 insertions(+), 78 deletions(-) diff --git a/index.html b/index.html index 8ed2be8..40fd034 100644 --- a/index.html +++ b/index.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platforms @@ -252,72 +252,146 @@ for the JavaScript code in this tag.

Stewart Platforms

-The goal here 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.

-
-

1 Simulink Project (link)

-
- -
-

2 Stewart Platform Architecture Definition (link)

-
- - -
-

3 Simscape Model of the Stewart Platform (link)

-
- - -
-

4 Kinematic Analysis (link)

-
-
    -
  • Jacobian Analysis
    • -
  • Stiffness Analysis
    • -
  • Static Forces
    • -
-
-
- -
-

5 Identification of the Stewart Dynamics (link)

-
-
    -
  • Extraction of State Space models
    • -
  • Resonant Frequencies and Modal Damping
    • -
  • Mode Shapes
    • -
-
-
- -
-

6 Active Damping (link)

-
-
    -
  • Inertial Sensor
    • -
  • Force Sensor
    • -
  • Relative Motion Sensor
    • -
-
-
- -
-

7 Control of the Stewart Platform (link)

-
- -
-

8 Cubic Configuration (link)

-
- -
-

9 Architecture Optimization

-
-

- -ref.bib +The project is divided into several section listed below.

+ +
+

1 Simulink Project (link)

+
+

+The project is managed with a Simulink Project. +Such project is briefly presented here. +

+
+
+ +
+

2 Stewart Platform Architecture Definition (link)

+
+

+The way the Stewart Platform is defined 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
    • +
+ +

+Other parameters are also defined such as: +

+
    +
  • Stiffness and damping of the struts
    • +
  • Inertia of the different elements
    • +
  • Rest position of the Stewart platform
    • +
+
+
+ +
+

3 Simscape Model of the Stewart Platform (link)

+
+

+The Stewart Platform is then modeled using Simscape. +

+ +

+The way to model is build and works is explained here. +

+
+
+ +
+

4 Kinematic Analysis (link)

+
+

+From the defined geometry of the Stewart platform, we can perform static analysis such as: +

+
    +
  • Jacobian Analysis that links the velocity of each limb to the velocity of the mobile platform
    • +
  • Static Forces Analysis that links the forces applied by each limb to the resulting force/torque applied to the mobile platform
    • +
+ +

+From the strut stiffness, we can also perform a Stiffness Analysis that consists of determining the Stiffness matrix and Compliance matrix of the Stewart platform from the geometry. +

+ +

+All these analysis are described here. +

+
+
+ +
+

5 Identification of the Stewart Dynamics (link)

+
+

+The Dynamics of the Stewart platform can be identified using the Simscape model. +

+ +

+It is possible to: +

+
    +
  • Determine the dynamics from the actuators to the various sensors included in the Stewart platform
    • +
  • Extract State Space models for further analysis / control synthesis
    • +
  • Extract the Resonant Frequencies, Modal Damping, and associated Mode Shapes
    • +
+ +

+The code that is used for identification is explained here. +

+
+
+ +
+

6 Active Damping (link)

+
+

+The use of different sensors are compared for active damping: +

+
    +
  • Inertial Sensor in each strut
    • +
  • Inertial Sensor fixed to the mobile platform
    • +
  • Force Sensor in each strut
    • +
  • Relative Motion Sensor in each strut
    • +
+ +

+The result of the analysis is accessible here. +

+
+
+ +
+

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. +

+
+
+ +
+

8 Cubic Configuration (link)

+
+

+The cubic configuration is a special class of Stewart platform that has interesting properties. +

+ +

+These properties are studied in this document. +

+
+
diff --git a/index.org b/index.org index 8c1208a..beeeffc 100644 --- a/index.org +++ b/index.org @@ -22,37 +22,65 @@ :END: * Introduction :ignore: -The goal here 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. + +The project is divided into several section listed below. * Simulink Project ([[file:simulink-project.org][link]]) +The project is managed with a *Simulink Project*. +Such project is briefly presented [[file:simulink-project.org][here]]. * Stewart Platform Architecture Definition ([[file:stewart-architecture.org][link]]) +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 + +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]]) +The Stewart Platform is then modeled using [[https://www.mathworks.com/products/simscape.html][Simscape]]. +The way to model is build and works is explained [[file:simscape-model.org][here]]. * Kinematic Analysis ([[file:kinematic-study.org][link]]) -- Jacobian Analysis -- Stiffness Analysis -- Static Forces +From the defined geometry of the Stewart platform, we can perform static analysis such as: +- *Jacobian Analysis* that links the velocity of each limb to the velocity of the mobile platform +- *Static Forces Analysis* that links the forces applied by each limb to the resulting force/torque applied to the mobile platform + +From the strut stiffness, we can also perform a *Stiffness Analysis* that consists of determining the Stiffness matrix and Compliance matrix of the Stewart platform from the geometry. + +All these analysis are described [[file:kinematic-study.org][here]]. * Identification of the Stewart Dynamics ([[file:identification.org][link]]) -- Extraction of State Space models -- Resonant Frequencies and Modal Damping -- Mode Shapes +The Dynamics of the Stewart platform can be identified using the Simscape model. +It is possible to: +- Determine the dynamics from the actuators to the various sensors included in the Stewart platform +- Extract State Space models for further analysis / control synthesis +- Extract the Resonant Frequencies, Modal Damping, and associated Mode Shapes + +The code that is used for identification is explained [[file:identification.org][here]]. + * Active Damping ([[file:active-damping.org][link]]) -- Inertial Sensor -- Force Sensor -- Relative Motion Sensor +The use of different sensors are compared for active damping: +- Inertial Sensor in each strut +- Inertial Sensor fixed to the mobile platform +- Force Sensor in each strut +- Relative Motion Sensor in each strut -* Control of the Stewart Platform ([[file:control-study.org][link]]) +The result of the analysis is accessible [[file:active-damping.org][here]]. + +* Motion Control of the Stewart Platform ([[file:control-study.org][link]]) +Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in [[file:control-study.org][this]] document. * Cubic Configuration ([[file:cubic-configuration.org][link]]) +The cubic configuration is a special class of Stewart platform that has interesting properties. -* Architecture Optimization +These properties are studied in [[file:cubic-configuration.org][this]] document. -* Bibliography :ignore: -bibliographystyle:unsrt -bibliography:ref.bib