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Development of a graphical user interface for a Stewart platform

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Date Issued:
1993
Summary:
A user friendly graphical interface was developed to control a Stewart platform which is a six degree-of-freedom in-parallel mechanism. The interface allows the user to define the platform motion relative to various coordinate systems: base, platform and joint. The velocity/position reference to the platform's controller can be provided by the following ways: preprogrammed data file, serial communication RS-232, 6 degrees of freedom joystick and soft teach pendant. The platform was designed to be used as "Space Emulator" and therefore a 6 degrees of freedom force/torque sensor was needed. Two different models of such sensors were designed and analyzed using finite element analysis techniques. Based on the results one particular model was selected, fabricated, instrumented with strain gages and calibrated in order to obtain its stiffness matrix. The effect of drifting of the sensor output due to self heating of the strain gages and the electronic components of the strain gage amplifiers was also studied.
Title: Development of a graphical user interface for a Stewart platform.
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Name(s): Subramanian, Chenthilvel Muthukumaran.
Florida Atlantic University, Degree grantor
Masory, Oren, Thesis advisor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1993
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 100 p.
Language(s): English
Summary: A user friendly graphical interface was developed to control a Stewart platform which is a six degree-of-freedom in-parallel mechanism. The interface allows the user to define the platform motion relative to various coordinate systems: base, platform and joint. The velocity/position reference to the platform's controller can be provided by the following ways: preprogrammed data file, serial communication RS-232, 6 degrees of freedom joystick and soft teach pendant. The platform was designed to be used as "Space Emulator" and therefore a 6 degrees of freedom force/torque sensor was needed. Two different models of such sensors were designed and analyzed using finite element analysis techniques. Based on the results one particular model was selected, fabricated, instrumented with strain gages and calibrated in order to obtain its stiffness matrix. The effect of drifting of the sensor output due to self heating of the strain gages and the electronic components of the strain gage amplifiers was also studied.
Identifier: 14941 (digitool), FADT14941 (IID), fau:11721 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.E.)--Florida Atlantic University, 1993.
Subject(s): Robots--Control systems
Robotics--Calibration
Manipulators (Mechanism)
Finite element method
Graphical user interfaces (Computer systems)
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14941
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.