Dynamics and Control of Hexapod Systems六足系统动力学和控制.pptVIP

Dynamics and Control of Hexapod Systems Jass 2006 St. Petersburg Table of Contents What is a Hexapod? History Advantages and disadvantages of a Hexapod Examples of application Mathematical description – Kinematics Mathematical descriptions – Dynamics Controlling of a Hexapod Simulation of the controller What is a Hexapod? greek language: “hexa” = 6, “podus” = foot, also called Stewart-Gough-Platform a hexapod belongs to the group of parallel kinematics in general it consists of: by varying the length of the axes, motions in all six degrees of freedom can be generated Movements of a Hexapod 1 Movements of a Hexapod 2 A little bit of History 1955: Invention of the hexapod; V. Gough was the first, who realized such type of robot for testing aircraft tyres under six component loading 1965: D. Stewart presented a parallel mechnism to be used as motion simulator 1999 – 2004: invention and testing of a hexapod telescope by Krupp and the Ruhr University of Bochum; now this telescope is working in Antofagasta (Chile) Advantages and Disadvantages Advantages: high system stiffness as a result of the parallel system structure high load/weight ratio non-cumulative joint errors lot of similar parts ? reduction of producing costs precise movements, also under heavily alternating loads and high accelerations arrangement of all motors for the single axes near the basis ? strong basis motor is not necessary Main disadvantage: strictly limited workspace, determined by the axes stroke and the maximum angle of the joints Examples of Hexapod systems 1 Examples of Hexapod systems 2 Mathematical description of a Hexapod 1 Kinematics of the hexapod system: geometrical relations at one leg Mathematical description of a Hexapod 2 inverse kinematics: calculating with a given TCP vector direct kinem