97 lines
4.7 KiB
Org Mode
97 lines
4.7 KiB
Org Mode
#+TITLE: Stewart Platforms
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:DRAWER:
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:END:
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* Introduction :ignore:
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The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
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The project is divided into several section listed below.
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* Simulink Project ([[file:simulink-project.org][link]])
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The project is managed with a *Simulink Project*.
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Such project is briefly presented [[file:simulink-project.org][here]].
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* Stewart Platform Architecture Definition ([[file:stewart-architecture.org][link]])
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The way the Stewart Platform is defined [[file:stewart-architecture.org][here]].
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All the geometrical parameters are defined including:
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- Definition of the location of the frames
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- Location/orientation of the limbs
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- Size/inertia of the platforms and the limbs
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Other parameters are also defined such as:
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- Stiffness and damping of the struts
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- Rest position of the Stewart platform
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* Simscape Model of the Stewart Platform ([[file:simscape-model.org][link]])
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The Stewart Platform is then modeled using [[https://www.mathworks.com/products/simscape.html][Simscape]].
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The way to model is build and works is explained [[file:simscape-model.org][here]].
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* Kinematic Analysis ([[file:kinematic-study.org][link]])
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From the defined geometry of the Stewart platform, we can perform static analysis such as:
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- *Jacobian Analysis* that links the velocity of each limb to the velocity of the mobile platform
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- *Static Forces Analysis* that links the forces applied by each limb to the resulting force/torque applied to the mobile platform
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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.
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All these analysis are described [[file:kinematic-study.org][here]].
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* Identification of the Stewart Dynamics ([[file:identification.org][link]])
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The Dynamics of the Stewart platform can be identified using the Simscape model.
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It is possible to:
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- Determine the dynamics from the actuators to the various sensors included in the Stewart platform
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- Extract State Space models for further analysis / control synthesis
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- Extract the Resonant Frequencies, Modal Damping, and associated Mode Shapes
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The code that is used for identification is explained [[file:identification.org][here]].
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* Control
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The use of active control for Stewart platforms is a wide subject.
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Many aspect can be studied.
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The sensors used is of primary important. We can have:
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- Sensors located in each strut: relative motion, force sensor, inertial sensor
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- Sensors measuring the relative motion between the fixed base and the mobile platform
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- Inertial sensors located on the mobile platform
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The control objective can also vary:
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- Reference Tracking
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- Active Damping
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- Vibration Isolation
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The Control for Stewart platforms is here studied in the following files:
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- *Active Damping* ([[file:control-active-damping.org][link]]).
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The use of different sensors are compared for active damping:
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- Inertial Sensor in each strut or fixed to the mobile platform
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- Force Sensor in each strut
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- Relative Motion Sensor in each strut
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- *Motion Control* ([[file:control-tracking.org][link]]).
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Different control architectures (centralized and decentralized) are compared for the position control of the Stewart platform.
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- *Vibration Isolation* ([[file:control-vibration-isolation.org][link]])
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* Cubic Configuration ([[file:cubic-configuration.org][link]])
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The cubic configuration is a special class of Stewart platform that has interesting properties.
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These properties are studied in [[file:cubic-configuration.org][this]] document.
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* Bibliography ([[file:bibliography.org][link]])
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Many text books, PhD thesis and articles related to parallel robots and Stewart platforms are gathered in [[file:bibliography.org][this]] document.
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