Study of Kinematic, Dynamic and Jocobian Analysis of Electro- pneumatic Stewart Parallel Robot (6dof) and Provide a Comprehensive Stat- Space Models for Control Purposes

Authors : Hamed Sanaei, Payam Dalaliyan Miandoab, Amir Rikhtehgar Giasi

Pages : 39-54

View : 24 | Download : 14

Publication Date : 2015-05-13

Article Type : Review

Abstract :Abstract. In recent years, parallel robots have become the focus of research since, as compared with similar serial robots, these robots possess many superior features. Upon a brief introduction of the Stewart parallel robot as a robot with the most industrial applications, its many advantages over similar serial robots were studied and a complete kinematic and dynamic analysis of this robot presented. Subsequently, to obtain an integrated system for control applications, a comprehensive model of this robot’s state- space was introduced through formulating the explicit governing equations for the Stewart system and its associated drive/actuator system.
Keywords : Stewart Parallel Robot, Kinematics, Dynamics, Jacobian Analysis, State- Space Model