碩士 / 國立高雄應用科技大學 / 電機工程系博碩士班 / 103 / This thesis discusses the applications of Kinematics and Dynamics on the control of Stewart platforms. The Inertial Measurement Unit (IMU) is utilized to measure the tilting angle of ships due to wave impacts, and the device further provides feedback to stabilize the Stewart platform along the horizontal direction. A Stewart platforms is constructed by a fixed base and a moving platform connected to six prismatic actuators, thus it has six degrees of freedom. Incorporating Kinematic, the heaving of prismatic actuators, and the calculated Euler Angle; the effective forces on each prismatic actuator can be determined of Dynamics. We achieve Stewart platform, application deck stability. According to the result of an experiment, we can receive a good result by using kinematics equation and dynamics equation. The approach discussed in this article utilizes six servo motors, an Inertial Measurement Unit, and an Arduino microcontroller unit (MCU) as the foundation for the Stewart platform.
| Identifer | oai:union.ndltd.org:TW/103KUAS0442022 |
| Date | January 2015 |
| Creators | Pei-Ming Hunag, 黃培銘 |
| Contributors | Luke K. Wang, 王冠智 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 70 |
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