397 lines
14 KiB
HTML
397 lines
14 KiB
HTML
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</head>
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<body>
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<div id="content">
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<h1 class="title">Stewart Platforms</h1>
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<p>
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The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
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</p>
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<p>
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The project is divided into several section listed below.
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</p>
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<div id="outline-container-orge0ffde8" class="outline-2">
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<h2 id="orge0ffde8"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2>
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<div class="outline-text-2" id="text-1">
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<p>
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The project is managed with a <b>Simulink Project</b>.
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Such project is briefly presented <a href="simulink-project.html">here</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-org840f439" class="outline-2">
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<h2 id="org840f439"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
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<div class="outline-text-2" id="text-2">
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<p>
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The way the Stewart Platform is defined <a href="stewart-architecture.html">here</a>.
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</p>
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<p>
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All the geometrical parameters are defined including:
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</p>
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<ul class="org-ul">
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<li>Definition of the location of the frames</li>
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<li>Location/orientation of the limbs</li>
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<li>Size/inertia of the platforms and the limbs</li>
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</ul>
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<p>
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Other parameters are also defined such as:
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</p>
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<ul class="org-ul">
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<li>Stiffness and damping of the struts</li>
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<li>Rest position of the Stewart platform</li>
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</ul>
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</div>
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</div>
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<div id="outline-container-org91daed3" class="outline-2">
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<h2 id="org91daed3"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
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<div class="outline-text-2" id="text-3">
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<p>
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The Stewart Platform is then modeled using <a href="https://www.mathworks.com/products/simscape.html">Simscape</a>.
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</p>
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<p>
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The way to model is build and works is explained <a href="simscape-model.html">here</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-orgf826a60" class="outline-2">
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<h2 id="orgf826a60"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
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<div class="outline-text-2" id="text-4">
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<p>
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From the defined geometry of the Stewart platform, we can perform static analysis such as:
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</p>
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<ul class="org-ul">
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<li><b>Jacobian Analysis</b> that links the velocity of each limb to the velocity of the mobile platform</li>
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<li><b>Static Forces Analysis</b> that links the forces applied by each limb to the resulting force/torque applied to the mobile platform</li>
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</ul>
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<p>
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From the strut stiffness, we can also perform a <b>Stiffness Analysis</b> that consists of determining the Stiffness matrix and Compliance matrix of the Stewart platform from the geometry.
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</p>
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<p>
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All these analysis are described <a href="kinematic-study.html">here</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-org34ceac7" class="outline-2">
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<h2 id="org34ceac7"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
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<div class="outline-text-2" id="text-5">
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<p>
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The Dynamics of the Stewart platform can be identified using the Simscape model.
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</p>
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<p>
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It is possible to:
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</p>
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<ul class="org-ul">
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<li>Determine the dynamics from the actuators to the various sensors included in the Stewart platform</li>
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<li>Extract State Space models for further analysis / control synthesis</li>
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<li>Extract the Resonant Frequencies, Modal Damping, and associated Mode Shapes</li>
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</ul>
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<p>
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The code that is used for identification is explained <a href="identification.html">here</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-org2c5545b" class="outline-2">
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<h2 id="org2c5545b"><span class="section-number-2">6</span> Active Damping (<a href="active-damping.html">link</a>)</h2>
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<div class="outline-text-2" id="text-6">
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<p>
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The use of different sensors are compared for active damping:
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</p>
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<ul class="org-ul">
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<li>Inertial Sensor in each strut</li>
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<li>Inertial Sensor fixed to the mobile platform</li>
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<li>Force Sensor in each strut</li>
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<li>Relative Motion Sensor in each strut</li>
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</ul>
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<p>
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The result of the analysis is accessible <a href="active-damping.html">here</a>.
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</p>
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</div>
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</div>
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<div id="outline-container-org8ab41c3" class="outline-2">
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<h2 id="org8ab41c3"><span class="section-number-2">7</span> Motion Control of the Stewart Platform (<a href="control-study.html">link</a>)</h2>
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<div class="outline-text-2" id="text-7">
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<p>
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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.
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</p>
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</div>
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</div>
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<div id="outline-container-org46a0310" class="outline-2">
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<h2 id="org46a0310"><span class="section-number-2">8</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
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<div class="outline-text-2" id="text-8">
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<p>
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The cubic configuration is a special class of Stewart platform that has interesting properties.
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</p>
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<p>
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These properties are studied in <a href="cubic-configuration.html">this</a> document.
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</p>
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</div>
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</div>
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</div>
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</body>
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</html>
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