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http://cidesi.repositorioinstitucional.mx/jspui/handle/1024/418| Control of a stewart-gough platform for earthquake ground motion simulation | |
| ERICK FRANCO ALVARADO REQUENA | |
| JOSE ANTONIO ESTRADA TORRES | |
| Acceso Abierto | |
| Atribución-NoComercial | |
| PLATAFORMA STEWART-GOUGH | |
| "The Stewart-Gough platform is a six DOF parallel robot manipulator with higher precision, mechanical stiffness and load capacity if compared with conventional serial link arm. In this master thesis, a CAD model of CIDESI Stewart Platform HxCf1 is imported to Simscape as a dynamic model and an application of an inverse dynamics control scheme is proposed; full kinematic equations of the robot are presented. A ground motion movement ""profile"" consisting on position (x,y,z) and orientation (a, b, g) based on real earthquake records is loaded and simulated; simulation results illustrate the performance of the HxCf1 robot using the control algorithm." | |
| 2019-12 | |
| Tesis de maestría | |
| Inglés | |
| AL-MX | |
| Público en general | |
| INGENIERÍA DE CONTROL | |
| Aparece en las colecciones: | Desarrollo de sistemas de control, visión y algorítmos |
Cargar archivos:
| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| M-EFAR-2019.pdf | 6.44 MB | Adobe PDF | Visualizar/Abrir |