Design and control of a new six dof parallel robot: Application to equestrian gait simulation

被引：27

作者：

Amirat, Y ^{[1
]}

Francois, C ^{[1
]}

Fried, G ^{[1
]}

Pontnau, J ^{[1
]}

Dafaoui, M ^{[1
]}

机构：

[1] IUT CACHAN,LGMPB,F-94230 CACHAN,FRANCE

来源：

MECHATRONICS | 1996年 / 6卷 / 02期

关键词：

D O I：

10.1016/0957-4158(95)00068-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

A new six DOF parallel robot which is derived from a classic Stewart platform is presented. The spatial arrangement of the links and the type of actuators, which are hydraulic jacks, induce interesting geometrical and dynamical performances. After the description of the mechanical architecture of this robot, the inverse geometrical and kinematical models are presented, along with the control system. The robot is used as an equestrian simulator and the corresponding control laws have been deduced from data which have been experimentally measured on an actual horse. The gait playback is discussed in the case of the trot, and the interest of the robot so designed is confirmed by the results evaluated by experienced horse riders.

引用

页码：227 / 239

页数：13

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