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Kinematics simulation of Gough-Stewart parallel manipulator by using Simulink package in Matlab software
Other Title(s)
محاكاة حسابات الكينماتيك لروبوت كوف-ستيوورت المتوازي باستخدام حزمة السميولنك
Joint Authors
Sarhan, Riyad Ahmad
Ulwan, Hasan Muhammad
Source
Journal of University of Babylon for Engineering Sciences
Issue
Vol. 27, Issue 2 (30 Jun. 2019), pp.10-20, 11 p.
Publisher
Publication Date
2019-06-30
Country of Publication
Iraq
No. of Pages
11
Main Subjects
Topics
Abstract EN
The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree of freedom, which has six equations of Kinematics (Inverse and forward), with six variables (Lengths, Position, and Orientation).
In this work derived the inverse equations, which used to compute the lengths of the linkages and its changes depended on the position and orientation of the platform's center, then derived the forward equations to calculate the position and orientation of the moving platform in terms of the lengths.
This theoretical model of the kinematics analysis of the Gough Stewart has been built into the Simulink package in Matlab to obtain the lengths, position, and orientation for the manipulator at any time of motion.
The input parameters (Position and Orientation) in inverse blocks compared with the output parameters (Position and Orientation) in the forward blocks, which show good results.
American Psychological Association (APA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. 2019. Kinematics simulation of Gough-Stewart parallel manipulator by using Simulink package in Matlab software. Journal of University of Babylon for Engineering Sciences،Vol. 27, no. 2, pp.10-20.
https://search.emarefa.net/detail/BIM-935142
Modern Language Association (MLA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. Kinematics simulation of Gough-Stewart parallel manipulator by using Simulink package in Matlab software. Journal of University of Babylon for Engineering Sciences Vol. 27, no. 2 (2019), pp.10-20.
https://search.emarefa.net/detail/BIM-935142
American Medical Association (AMA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. Kinematics simulation of Gough-Stewart parallel manipulator by using Simulink package in Matlab software. Journal of University of Babylon for Engineering Sciences. 2019. Vol. 27, no. 2, pp.10-20.
https://search.emarefa.net/detail/BIM-935142
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 19
Record ID
BIM-935142