将CAD史都华平台转换到Matlab中(Translating a CAD Stewart Platform).doc

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将CAD史都华平台转换到Matlab中(Translating a CAD Stewart Platform).doc

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Translating a CAD Stewart Platform On this page… HYPERLINK jar:file:///C:/Program%20Files%20%28x86%29/MATLAB/R2011b/help/toolbox/physmod/smlink/help.jar%21/ug/f3-16448.html \l f3-24130 Introducing the Stewart Platform HYPERLINK jar:file:///C:/Program%20Files%20%28x86%29/MATLAB/R2011b/help/toolbox/physmod/smlink/help.jar%21/ug/f3-16448.html \l brck3n5 Introducing the Stewart Platform Assembly HYPERLINK jar:file:///C:/Program%20Files%20%28x86%29/MATLAB/R2011b/help/toolbox/physmod/smlink/help.jar%21/ug/f3-16448.html \l f3-24008 Viewing the Stewart Platform Assembly HYPERLINK jar:file:///C:/Program%20Files%20%28x86%29/MATLAB/R2011b/help/toolbox/physmod/smlink/help.jar%21/ug/f3-16448.html \l f3-24027 Exporting the Stewart Platform Assembly HYPERLINK jar:file:///C:/Program%20Files%20%28x86%29/MATLAB/R2011b/help/toolbox/physmod/smlink/help.jar%21/ug/f3-16448.html \l f3-24010 Generating the Stewart Platform Model HYPERLINK jar:file:///C:/Program%20Files%20%28x86%29/MATLAB/R2011b/help/toolbox/physmod/smlink/help.jar%21/ug/f3-16448.html \l f3-24036 Visualizing the Stewart Platform Motion Introducing the Stewart Platform The Stewart platform consists of two plates connected by six mobile and extensible legs. The lower or base plate is immobile. The upper or mobile plate has six degrees of freedom, three rotational and three translational. The platform is a six-degree-of-freedom (DoF) mechanical system used for accurate positioning applications. It is highly stable and easy to control. The platforms six legs each have two parts, an upper and a lower leg, with a piston-like cylindrical DoF between each pair of parts. The legs are connected to the base plate and the top plate by universal joints at each end of each leg. (These universals are not just sets of abstract DoFs. Each also contains a spider-like body, while also having two DoFs.) The upper part of each leg can slide into and out of the lower leg, allowing each leg to be varied in length. The position and orientati