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Parallel mechanisms are unavoidably subjected to uncertainties. These uncertainties produce a small variation of link lengths and joints position associated with the clearances. Therefore, this contribution aims at analyzing the effect of these uncertainties on the kinematic performance of the mechanism by examining the kinematic performance atlases. Initially, the complete kinematic model of the...
This paper deals with the optimal design of a flexible planar parallel robot based on kinematic and dynamic criteria simultaneously. The complete kinematic and dynamic model permits to establish the workspace size and the elasto-dynamic performance, respectively. Consequently, the optimal design consists in a multi-objective optimization that is solved by using the multi-objective genetic algorithm...
Design criteria of the parallel robots are required in order to perform the optimal design. This paper aims at proposing optimal design criteria for a planar parallel robot with flexible joints. Consequently, dynamic and elastodynamic criteria are examined with the purpose of analyzing their behavior as a function of the design variables that are the lengths of the links of the robot. The dynamic...
This paper addresses the position tracking control application of a Stewart-Gough platform using robust generalized predictive control. The robustification of GPC against measurement noise using Youla parameterization is performed. The simulation of the complete model of the Stewart-Gough platform is performed on a circular trajectory. The robustified GPC controller is compared with the classical...
This paper presents the elaboration of a comprehensive Matlab-Simulink™ virtual environment of a Stewart platform. This simulation tool includes the kinematic and dynamic modeling of the platform, along with the control loops of the actuators and coupled to a trajectory generation module, it also offers complete visualization features through a dedicated graphic user interface. This simulator was...
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