Modification of the Gough–Stewart Platform with Six Degrees of Freedom

IF 0.4 Q4 ENGINEERING, MECHANICAL Journal of Machinery Manufacture and Reliability Pub Date : 2024-07-27 DOI:10.1134/s1052618824700237

I. V. Pashkov

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Abstract

The Gough–Stewart platform has occupied an important place in the manufacturing and scientific industries, making it possible to facilitate various production cycles or conduct necessary research. Its development makes it possible to solve newer and more complex problems or facilitate the implementation of existing ones. This article considers a modification of the classical platform; considers solutions to direct and inverse kinematics problems; implements a visualization program and a control algorithm, both a physical model of the platform and a virtual one; and estimates the parameters of the platform. Direct and inverse kinematics problems are one of the main problems that describe the platform; on their basis, it is possible to consider the behavior of the platform in various configurations of the given parameters. The visualization program allows one not only to view the behavior of the platform without the need to use a physical model of the platform, but also to control the real platform by transmitting the appropriate signals to the control circuit.

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具有六自由度的戈夫-斯图尔特平台改型

摘要高夫-斯图尔特平台在制造业和科学界占有重要地位，可促进各种生产周期或开展必要的研究。它的发展使解决更新、更复杂的问题或促进现有问题的实施成为可能。本文考虑了对经典平台的改进；考虑了直接运动学和逆运动学问题的解决方案；实施了可视化程序和控制算法，包括平台的物理模型和虚拟模型；并估算了平台的参数。直接和逆运动学问题是描述平台的主要问题之一；在此基础上，可以考虑平台在给定参数的各种配置下的行为。通过可视化程序，不仅可以查看平台的行为，而无需使用平台的物理模型，还可以通过向控制电路传输适当的信号来控制真实的平台。

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来源期刊

Journal of Machinery Manufacture and Reliability ENGINEERING, MECHANICAL-

CiteScore

0.80

自引率

33.30%

发文量

期刊介绍： Journal of Machinery Manufacture and Reliability is devoted to advances in machine design; CAD/CAM; experimental mechanics of machines, machine life expectancy, and reliability studies; machine dynamics and kinematics; vibration, acoustics, and stress/strain; wear resistance engineering; real-time machine operation diagnostics; robotic systems; new materials and manufacturing processes, and other topics.