Kinematics, Dynamics and Control of a 6RUS Parallel Robot

A Stewart platform is a type of parallel robot that incorporates six prismatic actuators, commonly hydraulic jacks. These actuators are mounted in pairs to the mechanism's base, crossing over to three mounting points on a top plate. Devices placed on the top plate can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move. These are the three linear movements x, y, z (lateral, longitudinal and vertical), and the three rotations pitch, roll, & yaw. The term "six-axis" platform is also used.

Type: 
Course Project
Date: 
2014
Place: 
Faculty of Electrical Engineering, K.N. Toosi University of Technology
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