| Abstract [eng] |
This thesis analyses closed mechanical structure, which is parallel to the kinematic chain and has 6 degrees of freedom, Stewart platform, possibilities of its modulation and control. Literature relating to the existing kinematics of the mechanism, the classification according to the geometrical and mechanical characteristics, modelling possibilities, the dynamics of the application opportunities in various fields is analysed. The analysis part includes the search of the manipulator actuator’s length in certain movements. What is more, optimal length of Stewart platform legs was found. The lengths were used for further investigation of the control system of the mechanism. Data was used to determine the parameters of the actuator transition process. Data of specific Stewart platform (length of the sides, weight which can be kept by the platform and initial length of the legs) were used to find the parameters. The experimental data is presented in tables and figures. |
