title: ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ ÐÑÑ â Ð¡ÑÑÐ°ÑÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Modeling and research of the Hugh â Stewart platform
Creators: name: ÐÐ¾Ð½ÑÐµÐ¹ÑÐ¾ Ð¤ÐµÑÑÐµÐ¹ÑÐ°, ÐÐ¸Ð¾Ð²Ð°Ð½Ð½Ð¸
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
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Ð¼ÐµÑ Ð°Ð½Ð¸ÑÐµÑÐºÐ°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
Stewart-Gough platform
SPM
spatial manipulators
kinematic analysis
dynamic analysis
stiffness analysis
parallel manipulator
mechanical system

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description: In view of the high demand of automation, high stiffness and dexterity in the industrial scenario, parallel robotic manipulators emerged as a reliable alternative to provide such characteristic. The current dissertation performs a study and analysis of a specific type of parallel manipulator known as 6-6 UPS Stewart-Gough platform. The geometry is defined according to the best practices in the literature. The kinematic analysis was developed using the inverse kinematics method, where the movements of the end-effector is known and usedÂ  to find the position, velocity and acceleration of the system in space. The dynamic analysis was developed using the Newton-Euler Method in order to find the forces acting on the system. The direct stiffness method was applied to develop the equations of stiffness of the leg and the system. In the end of each chapter, the presented analysis is verified by means of MATLAB and the results compared to authors who performed the similar investigation.