Hamed SANAEİ, Payam DALALİYAN MİANDOAB, Amir RİKHTEHGAR GİASİ

Study of Kinematic, Dynamic and Jocobian Analysis of Electro- pneumatic Stewart Parallel Robot (6dof) and Provide a Comprehensive Stat- Space Models for Control Purposes

Abstract. In recent years, parallel robots have become the focus of research since, as compared with similar serial robots, these robots possess many superior features. Upon a brief introduction of the Stewart parallel robot as a robot with the most industrial applications, its many advantages over similar serial robots were studied and a complete kinematic and dynamic analysis of this robot presented. Subsequently, to obtain an integrated system for control applications, a comprehensive model of this robot’s state- space was introduced through formulating the explicit governing equations for the Stewart system and its associated drive/actuator system.

Keywords:

Stewart Parallel Robot, Kinematics Dynamics, Jacobian Analysis, State- Space Model,

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