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	Control simulation and stability study of cable-suspended Stewart platform
	Gao Yankun ; Cheng Yuan ; Ren Gexue ; Huang Dexiu
	2010-10-12 ; 2010-10-12
关键词	Practical Theoretical or Mathematical Experimental/ cables (mechanical) eigenvalues and eigenfunctions manipulator dynamics many-body problems stability vibration control/ control simulation stability cable-suspended Stewart platform end manipulators multibody system dynamics eigensystem realization algorithm vibration modes controlled suspension project numerical simulation/ C3390M Manipulators C3120F Mechanical variables control C1320 Stability in control theory C4140 Linear algebra (numerical analysis) E2230 Robot and manipulator mechanics E2180D Vibrations and shock waves (mechanical engineering) E0210L Numerical analysis E1550A Robotics
中文摘要	This paper studied the control stability of end manipulators under the suspended-cable Stewart platform in the state of disturbance by using the multi-body system dynamics and control theory and eigensystem realization algorithm (ERA). The corresponding strategies had been suggested. The vibration modes of Stewart platform were analyzed under different suspended-cables by using the software of multibody system dynamics and control simulation. ERA was used to analyse the modes of the vibration of the system, thus the controlled suspension project was achieved. Based on numerical results, the experimental project for Stewart platform with the cable suspension was designed. The actual control effects were studied and the validity of numerical simulation was testified through experiments.
语种	中文
出版者	Chinese Mechanical Engineering Society ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/78709]
专题	清华大学
推荐引用方式 GB/T 7714	Gao Yankun,Cheng Yuan,Ren Gexue,et al. Control simulation and stability study of cable-suspended Stewart platform[J],2010, 2010.
APA	Gao Yankun,Cheng Yuan,Ren Gexue,&Huang Dexiu.(2010).Control simulation and stability study of cable-suspended Stewart platform..
MLA	Gao Yankun,et al."Control simulation and stability study of cable-suspended Stewart platform".(2010).

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