پیکربندی سنجهای پلتفرم استوارت با ارائه یک شیوه محاسباتی با بازدهی بالا

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران

چکیده

کاریرد اصلی پلتفرم استوارت برای تولید حرکت‌های دلخواه با درجات آزادی بالای فضایی است. با این‌حال می‌توان از این بستر برای سنجش وضعیت سه‌بعدی یک جسم در فضا نسبت به جسم و یا سطح پایه دیگر نیز بهره برد که در این صورت کل این مجموعه همانند یک سنجه عمل کرده و خروجی آن، حالت قرارگیری یک جسم که به پلتفرم بالایی مکانیزم استوارت متصل است را بیان خواهد کرد. مشکل اصلی این پیکربندی بار محاسباتی بالا برای تعیین وضعیت پلتفرم متحرک نسبت به ثابت مبتنی بر خروجی شش سنسور طولی است که به‌جای عوامل تحریک‌کننده به کار گرفته می‌شوند. در این پژوهش، قابلیت سنجه‌ای پلتفرم استوارت بررسی شده و دیدگاه سینماتیک مستقیم با بازدهی و سرعت عمل بالا مبتنی بر توسعه معادله‌های جبری غیرخطی مرتبه دومِ گسترش‌یافته که آن را برای کاربردهای زمان واقعی مناسب می‌سازد، ارائه شده است. شیوه ارائه شده برای استخراج مختصات دکارتی سه نقطه از پلتفرم متحرک نسبت به پلتفرم ثابت بوده و نتایج حاکی از آن است که الگوریتم پیشنهادی تطابق خوبی با نتایج حاصل از تحلیل حاصل از نرم‌افزار طراحی سه بعدی مهندسی دارد. قابلیت دیدگاه پیشنهادی با تحلیل تاریخچه زمانی متناوب شش سنجه طولی که به صورت منظم و نامنظم بر روی پلتفرم ثابت توزیع شده‌اند مورد ارزیابی قرار گرفت و بازدهی بالای محاسباتی آن به ویژه با در نظر گرفتن به‌روزرسانی شرایط اولیه مشخص گردید.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Sensory Configuration of Stewart Platform by Pre-senting a High-Performance Computational Procedure

نویسندگان [English]

  • Ali Pakdelnejad
  • Sina Jalili
Faculty of Mechanical Engineering, Sahand University of Technology
چکیده [English]

The Stewart platform is primarily used for generating arbitrary motions in three-dimensional space. However, it can also be utilized for measuring the three-dimensional position of an object attached to the moving platform. In this configuration, the Stewart platform functions as a sensory system. One challenge of this application is the high computational cost associated with determining the position of the moving platform relative to the fixed reference platform using data from six-length sensors. In this study, the sensory capabilities of the Stewart platform are investigated by introducing a high-performance and numerically agile approach. This approach involves developing an extended set of nonlinear algebraic equations that are well-suited for real-time applications. By applying this procedure to derive the Cartesian coordinates of three points on the moving platform and comparing the results with those obtained from computer-aided design software, a strong correlation is observed. To further evaluate the effectiveness of the approach, its performance is analyzed when subjected to harmonic time histories from six length sensors and when the legs' base positions are arranged regularly or non-regular on the fixed platform. The results demonstrate that the present method, particularly by updating initial conditions at every time increment, exhibits high computational efficiency.

کلیدواژه‌ها [English]

  • Stewart mechanism
  • sensory configuration
  • forward kinematics
  • parallel mechanism
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