Sammanfattning
An analytical stiffness and eigenfrequency model of symmetric parallel 6-6 Stewart
platforms (hexapods) is developed based on geometrical design variables to optimize the
dynamical performance. The model is based upon Lagrangean dynamics in which the Bryant
angles are used for the kinematics formulation. With the analytical eigenfrequency model,
optimum stiffness characteristics can be obtained for any industrial application with limited
workspace such as optical collimation systems. The actuator length-flexibility dependency is
also considered in the analytical model. It is proposed that to increase the actuation bandwidth
in six degrees of freedom, an eigenfrequency cost function can be defined and optimized.
platforms (hexapods) is developed based on geometrical design variables to optimize the
dynamical performance. The model is based upon Lagrangean dynamics in which the Bryant
angles are used for the kinematics formulation. With the analytical eigenfrequency model,
optimum stiffness characteristics can be obtained for any industrial application with limited
workspace such as optical collimation systems. The actuator length-flexibility dependency is
also considered in the analytical model. It is proposed that to increase the actuation bandwidth
in six degrees of freedom, an eigenfrequency cost function can be defined and optimized.
Originalspråk | engelska |
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Titel på värdpublikation | Proceedings of the 25th Nordic seminar on computational mechanics |
Redaktörer | K. Persson, G. Sandberg, M. Wallin |
Status | Published - 2012 |
Externt publicerad | Ja |
Evenemang | 25th Nordic Seminar on Computational Mechanics, 2012 - Lund, Lund, Sverige Varaktighet: 2012 okt. 25 → 2012 okt. 26 Konferensnummer: 25 |
Konferens
Konferens | 25th Nordic Seminar on Computational Mechanics, 2012 |
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Förkortad titel | NSCM |
Land/Territorium | Sverige |
Ort | Lund |
Period | 2012/10/25 → 2012/10/26 |
Ämnesklassifikation (UKÄ)
- Teknisk mekanik