Sensitivity analysis of a new model of Stewart platform

Document Type : Original Article

Authors

Electrical and Computer Engineering Department, Qom University of Technology, Qom, Iran

Abstract

In this article, we introduce a new model of the Stewart Platform robot with rotary servo motors that is very cheap to build. First of all, studied a kinematic of the Stewart Platform, and then, with a simple geometric analysis, we’ll find the angles of servo motors for a specified position. Because of using the angular or rotational Servo motors in this model, sensitivity analysis is a crucial point. After sensitivity analysis of the model, we show the sensitivity level of a type of rotary servo in different coordinates x, y, and z.

Keywords


[1] L. Chen, S. Wang, Z. Jin and X. Guan, "Analysis of Sensitivity for Six-Axis Force/Torque Sensor Based on Stewart Platform Sensor Based on Stewart," 2007 International Conference on Mechatronics and Automation, Harbin, 2668-2672, 2007
[2] Green and D.J.N. Limebeer, "Linear Robust Control", ‎ Pearson Education Inc, 1995
[3] Han, J. Kim, F.C. Park, "Kinematic sensitivity analysis of the 3-UPU parallel mechanism", Mechanism and Machine Theory, 37, 787–798, 2002
[4] Kizir and Z. Bingul, “Position Control and Trajectory Tracking of the Stewart Platform, Serial and Parallel Robot Manipulators”, Kinematics, Dynamics, Control and Optimization, 978-953-51-0437-7, 2012
[5] W. Spong, S. Hutchinson, and M. Vidyasagar “Robot Modeling and Control”, 2nd Edition, Wiley, 2020.
[6] Stewart, “A_Platform_with_Six_Degrees_of_Freedom”ProcInstnMechEngrs”, ,VoZ180 Pt1,No15, 1965
[7] Tannous, S. Caro, A. Goldsztejn, "Sensitivity analysis of parallel manipulators using an interval linearization method", Mechanism and Machine Theory, 71, 93–114, 2014