Inverse modeling of the stewart foot
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Independent Journal of Management & Production |
Texto Completo: | http://www.ijmp.jor.br/index.php/ijmp/article/view/1557 |
Resumo: | The Stewart's leg is used today in the majority of parallel robotic systems, such as the Stewart platform, but also in many other types of mechanisms and kinematic chains, in order to operate them or to transmit motion. A special character in the study of robots is the study of inverse kinematics, with the help of which the map of the motor kinematic parameters necessary to obtain the trajectories imposed on the effector can be made. For this reason, in the proposed mechanism, we will present reverse kinematic modeling in this paper. The kinematic output parameters, ie the parameters of the foot and practically of the end effector, ie those of the point marked with T, will be determined for initiating the working algorithm with the help of logical functions, "If log(ical)", with the observation that here they play the role of input parameters; it is positioned as already specified in the inverse kinematics when the output is considered as input and the input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad. |
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Independent Journal of Management & Production |
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Inverse modeling of the stewart footIf LogMath CadStewart platformStewart's legRobotKinematicsInverse kinematicsThe Stewart's leg is used today in the majority of parallel robotic systems, such as the Stewart platform, but also in many other types of mechanisms and kinematic chains, in order to operate them or to transmit motion. A special character in the study of robots is the study of inverse kinematics, with the help of which the map of the motor kinematic parameters necessary to obtain the trajectories imposed on the effector can be made. For this reason, in the proposed mechanism, we will present reverse kinematic modeling in this paper. The kinematic output parameters, ie the parameters of the foot and practically of the end effector, ie those of the point marked with T, will be determined for initiating the working algorithm with the help of logical functions, "If log(ical)", with the observation that here they play the role of input parameters; it is positioned as already specified in the inverse kinematics when the output is considered as input and the input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad.Independent2021-12-21info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttp://www.ijmp.jor.br/index.php/ijmp/article/view/155710.14807/ijmp.v12i9.1557Independent Journal of Management & Production; Vol. 12 No. 9 (2021): Independent Journal of Management & Production (Special Edition IFLOG); s774-s7932236-269X2236-269Xreponame:Independent Journal of Management & Productioninstname:Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)instacron:IJM&Penghttp://www.ijmp.jor.br/index.php/ijmp/article/view/1557/2054http://www.ijmp.jor.br/index.php/ijmp/article/view/1557/2055Copyright (c) 2021 Prof. Dr. Eng. Adriana Comanescu, Dr. Eng. Alexandra Rotaru, Dr. Eng. Liviu Marian Ungureanu, Florian Ion Tiberiu Petrescuhttp://creativecommons.org/licenses/by-nc-sa/4.0info:eu-repo/semantics/openAccessComanescu, AdrianaRotaru, AlexandraUngureanu, Liviu MarianPetrescu, Florian Ion Tiberiu2021-12-21T11:59:38Zoai:www.ijmp.jor.br:article/1557Revistahttp://www.ijmp.jor.br/PUBhttp://www.ijmp.jor.br/index.php/ijmp/oaiijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br||2236-269X2236-269Xopendoar:2021-12-21T11:59:38Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)false |
dc.title.none.fl_str_mv |
Inverse modeling of the stewart foot |
title |
Inverse modeling of the stewart foot |
spellingShingle |
Inverse modeling of the stewart foot Comanescu, Adriana If Log Math Cad Stewart platform Stewart's leg Robot Kinematics Inverse kinematics |
title_short |
Inverse modeling of the stewart foot |
title_full |
Inverse modeling of the stewart foot |
title_fullStr |
Inverse modeling of the stewart foot |
title_full_unstemmed |
Inverse modeling of the stewart foot |
title_sort |
Inverse modeling of the stewart foot |
author |
Comanescu, Adriana |
author_facet |
Comanescu, Adriana Rotaru, Alexandra Ungureanu, Liviu Marian Petrescu, Florian Ion Tiberiu |
author_role |
author |
author2 |
Rotaru, Alexandra Ungureanu, Liviu Marian Petrescu, Florian Ion Tiberiu |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Comanescu, Adriana Rotaru, Alexandra Ungureanu, Liviu Marian Petrescu, Florian Ion Tiberiu |
dc.subject.por.fl_str_mv |
If Log Math Cad Stewart platform Stewart's leg Robot Kinematics Inverse kinematics |
topic |
If Log Math Cad Stewart platform Stewart's leg Robot Kinematics Inverse kinematics |
description |
The Stewart's leg is used today in the majority of parallel robotic systems, such as the Stewart platform, but also in many other types of mechanisms and kinematic chains, in order to operate them or to transmit motion. A special character in the study of robots is the study of inverse kinematics, with the help of which the map of the motor kinematic parameters necessary to obtain the trajectories imposed on the effector can be made. For this reason, in the proposed mechanism, we will present reverse kinematic modeling in this paper. The kinematic output parameters, ie the parameters of the foot and practically of the end effector, ie those of the point marked with T, will be determined for initiating the working algorithm with the help of logical functions, "If log(ical)", with the observation that here they play the role of input parameters; it is positioned as already specified in the inverse kinematics when the output is considered as input and the input as output. The logical functions used, as well as the entire calculation program used, were written in Math Cad. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-12-21 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1557 10.14807/ijmp.v12i9.1557 |
url |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1557 |
identifier_str_mv |
10.14807/ijmp.v12i9.1557 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
http://www.ijmp.jor.br/index.php/ijmp/article/view/1557/2054 http://www.ijmp.jor.br/index.php/ijmp/article/view/1557/2055 |
dc.rights.driver.fl_str_mv |
http://creativecommons.org/licenses/by-nc-sa/4.0 info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
http://creativecommons.org/licenses/by-nc-sa/4.0 |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf text/html |
dc.publisher.none.fl_str_mv |
Independent |
publisher.none.fl_str_mv |
Independent |
dc.source.none.fl_str_mv |
Independent Journal of Management & Production; Vol. 12 No. 9 (2021): Independent Journal of Management & Production (Special Edition IFLOG); s774-s793 2236-269X 2236-269X reponame:Independent Journal of Management & Production instname:Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP) instacron:IJM&P |
instname_str |
Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP) |
instacron_str |
IJM&P |
institution |
IJM&P |
reponame_str |
Independent Journal of Management & Production |
collection |
Independent Journal of Management & Production |
repository.name.fl_str_mv |
Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP) |
repository.mail.fl_str_mv |
ijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br|| |
_version_ |
1797220494004453376 |