Experimental investigations on reconfigurable Stewart platform for contour generation

摘要

The authors in their earlier works have shown that there is a lack of an efficient holistic methodology for determining the optimum geometry for the task of reconfiguration for varying tasks. A solution is possible through the formulation of dimensionless parameters in combination with generic parameters like configuration and joint vector, using the variable geometry approach. The proposed methodology provided a holistic approach to develop a complete set of design tool for any new reconfigurable Stewart platform for two identified applications viz., contour generation and vibration isolation. In this research work a Stewart platform test rig developed and error analysis is performed for contour generation to validate the simulation results. The natural frequency of the system is obtained through experimentation to be used in control studies.