An algorithm to solve the inverse kinematics to a stewart platform

Main Article Content

Florian Ion Tiberiu Petrescu
Relly Victoria Virgil Petrescu
صندلی اداری

Abstract

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 platform, 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.

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Author Biographies

Florian Ion Tiberiu Petrescu, Bucharest Polytechnic University

Ph.D. Eng. Florian Ion T. PETRESCU

Senior Lecturer at UPB (Bucharest Polytechnic University), Theory of Mechanisms and Robots department,

Date of birth: March.28.1958; Higher education: Polytechnic University of Bucharest, Faculty of Transport, Road Vehicles Department, graduated in 1982, with overall average 9.63;

Doctoral Thesis: "Theoretical and Applied Contributions About the Dynamic of Planar Mechanisms with Superior Joints".

Expert in: Industrial Design, Mechanical Design, Engines Design, Mechanical Transmissions, Dynamics, Vibrations, Mechanisms, Machines, Robots.

Association:

Member ARoTMM, IFToMM, SIAR, FISITA, SRR, AGIR. Member of Board of SRRB (Romanian Society of Robotics).

Relly Victoria Virgil Petrescu, Ph.D. Eng. Relly Victoria V. PETRESCU Senior Lecturer at UPB (Bucharest Polytechnic University), TTL department, Date of birth: March.13.1958; Higher education: Polytechnic University of Bucharest, Faculty of Transport, Road Vehicles Department, graduated in 1982, with overall average 9.43;

Ph.D. Eng. Relly Victoria V. PETRESCU

Senior Lecturer at UPB (Bucharest Polytechnic University), TTL department,

Date of birth: March.13.1958; Higher education: Polytechnic University of Bucharest, Faculty of Transport, Road Vehicles Department, graduated in 1982, with overall average 9.43;

 

References

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