Email this article Dynamics of a Stewart platform
- Authors: Andrievskiy B.R.1,2, Arseniev D.G.1,3, Zegzhda S.A.1, Kazunin D.V.1, Kuznetsov N.V.1, Leonov G.A.1,2, Tovstik P.E.1, Tovstik T.P.2, Yushkov M.P.1
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Affiliations:
- St. Petersburg State University
- Institute of Problems of Mechanical Engineering
- Peter the Great St. Petersburg Polytechnic University
- Issue: Vol 50, No 3 (2017)
- Pages: 297-309
- Section: Mechanics
- URL: https://journal-vniispk.ru/1063-4541/article/view/185838
- DOI: https://doi.org/10.3103/S1063454117030037
- ID: 185838
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Abstract
The kinematics and dynamics of a Stewart platform supported by six pneumocylinders are considered. The differential equations of motion are written, and the forces providing the fulfillment of the formulated law of motion are calculated. The inertia and weight of pneumocylinders are introduced into consideration to refine the equations of motion. The obtained equations are used to study the motion of a loaded Stewart platform, providing the stability of this motion by means of feedback control. Some numerical examples are given.
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About the authors
B. R. Andrievskiy
St. Petersburg State University; Institute of Problems of Mechanical Engineering
Author for correspondence.
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034; St. Petersburg, 199178
D. G. Arseniev
St. Petersburg State University; Peter the Great St. Petersburg Polytechnic University
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034; St. Petersburg, 195251
S. A. Zegzhda
St. Petersburg State University
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034
D. V. Kazunin
St. Petersburg State University
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034
N. V. Kuznetsov
St. Petersburg State University
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034
G. A. Leonov
St. Petersburg State University; Institute of Problems of Mechanical Engineering
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034; St. Petersburg, 199178
P. E. Tovstik
St. Petersburg State University
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034
T. P. Tovstik
Institute of Problems of Mechanical Engineering
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199178
M. P. Yushkov
St. Petersburg State University
Email: boris.andrievsky@gmail.com
Russian Federation, St. Petersburg, 199034
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