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COMPLETE DYNAMIC ANALYSIS OF STEWART PLATFORM BASED ON WORKSPACE: A Complete Dynamic Analysis of Stewart Platform including Workspace Evaluation and Singularity Detection - Tapa blanda

Güneri, Burcu; Saide Sarigül, Ayse

 
9783838377155: COMPLETE DYNAMIC ANALYSIS OF STEWART PLATFORM BASED ON WORKSPACE: A Complete Dynamic Analysis of Stewart Platform including Workspace Evaluation and Singularity Detection
Tapa blanda
ISBN 10: 383837715X ISBN 13: 9783838377155
Editorial: LAP LAMBERT Academic Publishing, 2011

Sinopsis

In recent years, the field of parallel manipulators has expanded significantly in applications requiring high precision, loading capacity, accuracy, rigidity and high velocity. Stewart platform is the most common type of parallel manipulators. Limited workspace, complex kinematic/kinetic solutions, singularities inside the workspace are the main problems encountered with regard to this type of robots. In this book, using some design/engineering software and programming language, Stewart platform is investigated in details by modeling and simulation, dynamic analysis and singularity detection. The effects of geometric and kinematic parameters on the workspace are determined for different orientations of the moving platform. The actuator forces computed on the workspace boundaries are compared for different joint positions. Singularity analysis of Stewart platform is also performed considering many aspects based on trajectory planning. In this manner, a complete package of analysis focused on Stewart platform is presented in this book. The reader can benefit from the obtained results and conclusions which may be utilized for design, analysis, simulation and manufacturing purposes.

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Reseña del editor

In recent years, the field of parallel manipulators has expanded significantly in applications requiring high precision, loading capacity, accuracy, rigidity and high velocity. Stewart platform is the most common type of parallel manipulators. Limited workspace, complex kinematic/kinetic solutions, singularities inside the workspace are the main problems encountered with regard to this type of robots. In this book, using some design/engineering software and programming language, Stewart platform is investigated in details by modeling and simulation, dynamic analysis and singularity detection. The effects of geometric and kinematic parameters on the workspace are determined for different orientations of the moving platform. The actuator forces computed on the workspace boundaries are compared for different joint positions. Singularity analysis of Stewart platform is also performed considering many aspects based on trajectory planning. In this manner, a complete package of analysis focused on Stewart platform is presented in this book. The reader can benefit from the obtained results and conclusions which may be utilized for design, analysis, simulation and manufacturing purposes.

Biografía del autor

Burcu Güneri received her B.Sc. degree in Mechanical Engineering from Middle East Technical University(METU), Turkey and M.Sc. degree in Machine Theory and Dynamics from Dokuz Eylül University (DEU). Ayse Saide Sarigül, whose main research interests are vibro-acoustics and robotics, is a full-time professor in Mechanical Engineering at DEU.

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Editorial
LAP LAMBERT Academic Publishing
Año de publicación
2011
Idioma
Inglés
ISBN 10 
383837715X
ISBN 13 
9783838377155
Encuadernación
Tapa blanda
Número de páginas
140
Contacto del fabricante
no disponible
Persona responsable
no disponible