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研究生:廖本儒
研究生(外文):Liao, Freddy
論文名稱:Dynamicanalysisanddesign、Real-timesimulationandverificationofa3-LegStewartPlatform
指導教授:黃榮興黃榮興引用關係
指導教授(外文):Huang, Rong-Xing
學位類別:碩士
校院名稱:中華大學
系所名稱:航空太空工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
畢業學年度:85
語文別:中文
論文頁數:72
中文關鍵詞:前向運動逆向運動速度運動航空學太空學太空船
外文關鍵詞:Forward KinematicsInverse KinematicsVelocity KinematicsAERONAUTICSAEROSPACEAIR-SHIP
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  • 點閱點閱:136
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This research has investigated the kinematics equations of
a three-leg Stewart platform, which include forward kinematics,
inverse kinematics and velocity kinematics. In the meantime, we
perform the mathematical model and hardware-in-the-loop
simulation and verification on PC very successfully. In the
future, we will accomplish the dynamic analysis and simulation
of platform. Furthermore, the capability of the payload and
angular rate will be enhanced and evaluated for the possibility
to modify or rebuild the system. In addition, we analyze the
phenomenon of the singularity with mathematical model.
Hardware-in-the-loop (HIL) simulation is a real-time simulation
by using platform real body instead of forward kinematics
mathematical model. Through HIL simulation, all the platform
dynamic response can be simulated and verified. In this
thesis, we not only derive the kinematics equation, but also
accomplish all the algorithm and I/O driver by using C++ program
on PC.

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