Septiawan, Jemmy and Baskoro, Gembong and Hendriana, Dena (2016) Six-Axis Stewart-Platform Design With Servo Motors. Masters thesis, Swiss German University.
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Abstract
A Stewart platform is a closed loop manipulator whose six-Degree of Freedom (DOF) end-effector is connected to a base platform by six actuators using prismatic joints. The Stewart platform consists of two platforms, which are the moveable platform (6 DOF) and the fixed base platform. The prototype is expected to become a compact and standardize platform for general application. The prototype used servo motors as main actuators. The moveable platform using homogenous transformation and inverse kinematics to determine position angle of each servo motors, which are attached to base platform. The calculation is processed by controller unit ATMEGA16 and the servo motor drive is being driven using Pulse Width Modulation (PWM). The rigidity of the prototype provides good stability of the platform. However the stability infuses with the complexity of the motion generation sequence. The motion sequence is generated using the series carefully interpolated coordinates of inverse kinematics. The advantages of using the servo motors are higher response and faster travel speed. The future improvement in this research is to derive a suitable controller algorithm for various payload conditions.
| Item Type: | Thesis (Masters) |
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| Uncontrolled Keywords: | Stewart Platforms; Servo; Prototype; Design |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics |
| Divisions: | Faculty of Engineering and Information Technology > Department of Mechatronics Engineering |
| Depositing User: | Atroridho Rizky |
| Date Deposited: | 08 Jul 2020 12:35 |
| Last Modified: | 08 Jul 2020 12:35 |
| URI: | http://repository.sgu.ac.id/id/eprint/1089 |
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