Inverse Kinematics of a Stewart Platform

Journal of Mechatronics and Robotics 2018, 2 (1): 45.59, DOI/10.3844/jmrsp.2018.45.59

15 Pages Posted: 12 Jun 2018

See all articles by Relly Victoria Petrescu

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Raffaella Aversa

Advanced Material Lab - Department of Architecture and Industrial Design

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design

MirMilad Mirsayar

Texas A&M University - Department of Civil Engineering

Samuel Kozaitis

Florida Institute of Technology

Taher Abu-Lebdeh

North Carolina Agricultural and Technical State University

Florian Ion Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM

Date Written: March 10, 2018

Abstract

The development and diversification of machines and mechanisms with applications in all fields require new scientific researches for the systematization and improvement of existing mechanical systems by creating new mechanisms adapted to modern requirements, which involve increasingly complex topological structures. The modern industry, the practice of designing and building machinery is increasingly based on the results of scientific and applied research. Each industrial achievement has backed theoretical and experimental computer-assisted research, which solves increasingly complex problems with advanced computing programs using an increasingly specialized software. The robotization of technological processes determines and influences the emergence of new industries, applications under special environmental conditions, the approach of new types of technological operations, manipulation of objects in the alien space, teleoperators in the top disciplines like medicine, robots covering a whole field greater service provision in our modern, computerized society. Movable, robotic, mechatronic mechanical systems have entered nearly all industrial spheres. Today, we can no longer conceive of industrial production without these extremely useful systems. They are still said to steal from people's jobs. Even so, it should be made clear that these systems create value, work in difficult, repetitive, non-pausing, high-quality work, without getting tired, without getting sick, without salary and producing value who are paid and people left without jobs, so that they can work elsewhere in more pleasant, more advantageous conditions, with the necessary breaks. Mechanical systems in motion type parallel structures are solid, fast and accurate. Between mobile systems parallel the best known and used system is that of a Stewart platforms, as being and the oldest system, quickly, solid and accurate. The paper presents a few main elements of the Stewart platforms. In the case where a motto element consists of a structure composed of two elements in a relative movement from the point of view of the train of propulsion and especially in the dynamic calculations, it is more convenient to represent the motto element as a single moving item. The paper presents an exact, original analytical geometry method for determining the kinematic and dynamic parameters of a parallel mobile structure. Compared with other methods already known, the presented method has the great advantage of being an exact analytical method of calculation and not one iterative-approximately.

Note: © 2018 Relly Victoria Virgil Petrescu, Raffaella Aversa, Antonio Apicella, MirMilad Mirsayar, Samuel Kozaitis, Taher Abu-Lebdeh and Florian Ion Tiberiu Petrescu. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

Keywords: Stewart Platform, Mechanism, Robots, Mechatronics, Mechanical Systems, Parallel Systems

Suggested Citation

Petrescu, Relly Victoria and Aversa, Raffaella and Apicella, Antonio and Mirsayar, MirMilad and Kozaitis, Samuel and Abu-Lebdeh, Taher and Petrescu, Florian Ion, Inverse Kinematics of a Stewart Platform (March 10, 2018). Journal of Mechatronics and Robotics 2018, 2 (1): 45.59, DOI/10.3844/jmrsp.2018.45.59. Available at SSRN: https://ssrn.com/abstract=3184296

Relly Victoria Petrescu

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

Raffaella Aversa

Advanced Material Lab - Department of Architecture and Industrial Design ( email )

81031 Aversa (CE)
Italy

Antonio Apicella

Advanced Material Lab - Department of Architecture and Industrial Design ( email )

81031 Aversa (CE)
Italy

MirMilad Mirsayar

Texas A&M University - Department of Civil Engineering ( email )

College Station, TX
United States

Samuel Kozaitis

Florida Institute of Technology ( email )

150 West University Blvd.
Melbourne, FL 32901-6975
United States

Taher Abu-Lebdeh

North Carolina Agricultural and Technical State University ( email )

1601 E. Market St.
Greensboro, NC 27411
United States

Florian Ion Petrescu (Contact Author)

Polytechnic University of Bucharest - ARoTMM-IFToMM ( email )

Romania

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