Workspace Identification of Stewart Platform
S Dasmahapatra1, M Ghosh2
1Dr. Sibsankar Dasmahapatra, Assistant Professor, Mechanical Engineering Department, Kalyani Govt. Engg. College, Nadia, WB, India.
2Mintu Ghosh, Assistant Professor, Mechanical Engineering Department, Bengal College of Engineering and Technology, Durgapur, WB, India
Manuscript received on May 06, 2020. | Revised Manuscript received on May 15, 2020. | Manuscript published on June 30, 2020. | PP: 1903-1907 | Volume-9 Issue-5, June 2020. | Retrieval Number: C5338029320/2020©BEIESP | DOI: 10.35940/ijeat.C5338.029320
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The workspace identification of 6-DOF Stewart Platform has been done in this paper through inverse kinematic modeling. This Stewart Platform has six linear cylinder–piston actuators connected within fixed and the moving platform. The motions of the moving platform such as surge, sway, heave, roll, pitch and yaw have been generated from the combined motions of piston of actuators. The mathematical formulations for Inverse-Kinematic modeling of Stewart Platform have been formulated to find out the individual piston motion for the required platform motion. The platform motions and the actuator motions have been studied for the workspace identification of the Stewart Platform.
Keywords: 6-DOF, Inverse-Kinematic, Stewart Platform, Workspace- Identification.