Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)
- Volume 2 Issue 1
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- Pages.45-52
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- 1996
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- 1976-5622(pISSN)
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- 2233-4335(eISSN)
Kinematic/dynamic optimal design of a Stewart Platform mechanism
스튜워트 플랫폼 메카니즘의 기구학적/동역학적 최적설계
-
Yi, Byung-Ju
(Dept. of Control and Instrumentation Engineering, Hanyang University)
;
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Kim, Whee-Kuk
(Dept.of Control and Instrumentation Engineering, Korea University)
;
- Huh, Kum-Kang (Dept.of Control and Instrumentation Engineering, Korea University)
- Published : 1996.03.01
Abstract
This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.