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Design Exploration of Stewart Platform

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Recent Advances in Machines and Mechanisms

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

In this work, kinematic design exploration of a Stewart platform manipulator is carried out. The paper presents the effect of the design parameters of the Stewart platform on its different range of motions. We employ the inverse kinematic model of the manipulator with some design constraints to do this exploration. There are also limits on input actuations. The different kinematic design parameters of the mechanisms are outlined. Out of all the parameters, we select three design parameters for our study. These parameters are then changed one by one to see the effect on the range of motions. Useful trends are generated for each case. These results are then validated by Adams simulations with a very close confirmation. The trends presented in the paper could prove extremely helpful for designers to obtain the configuration with improved range of motion in any of the six degrees-of-freedom motions.

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Authors and Affiliations

  1. Indian Institute of Technology Kharagpur, Kharagpur, 721302, India

    Suraj Kumar Mishra & C. S. Kumar

Authors
  1. Suraj Kumar Mishra
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  2. C. S. Kumar
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Corresponding author

Correspondence to Suraj Kumar Mishra .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, Madhya Pradesh, India

    Vijay Kumar Gupta

  2. Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, Maharashtra, India

    C. Amarnath

  3. Department of Mechanical Engineering, PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, India

    Puneet Tandon

  4. Department of Mechanical Engineering, PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, India

    M. Zahid Ansari

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Mishra, S.K., Kumar, C.S. (2023). Design Exploration of Stewart Platform. In: Gupta, V.K., Amarnath, C., Tandon, P., Ansari, M.Z. (eds) Recent Advances in Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-3716-3_10

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  • DOI: https://doi.org/10.1007/978-981-19-3716-3_10

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-3715-6

  • Online ISBN: 978-981-19-3716-3

  • eBook Packages: EngineeringEngineering (R0)

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