access icon openaccess Research on position inverse solution of electric-driven Stewart platform based on Simulink

The structural characteristics and modes of the Stewart platform driven by electric cylinders are briefly introduced. Based on Simulink, the modelling method of the platform is analysed. To obtain the coordinate transformation of Stewart platform, the rotation matrix and homogeneous transformation are resolved, and the mathematical model of the electric-driven Stewart platform is established related to the structural characteristics. The simulation model of input and output signals is constructed by using graphical user interface (GUI) module provided by Simulink. The motion simulation curves of six electric actuators under different position and posture are obtained, which gives benefit to understand and control the different motion states of the electric-driven Stewart platform.

Inspec keywords: control engineering computing; electric actuators; position control; matrix algebra; robot kinematics; mechanical engineering computing; motion control; graphical user interfaces

Other keywords: rotation matrix; position inverse solution; motion state control; Simulink; GUI module; structural characteristics; homogeneous transformation; electric cylinders; electric-driven Stewart platform; coordinate transformation; mathematical model; electric actuators; motion simulation curves; input-output signal simulation model

Subjects: Algebra; Spatial variables control; Robotics; Graphical user interfaces; Control engineering computing; Mechanical engineering applications of IT; Civil and mechanical engineering computing; Robot and manipulator mechanics; Algebra; Electric actuators and final control equipment

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