info:eu-repo/semantics/masterThesis
Control of a stewart-gough platform for earthquake ground motion simulation
Autor
ERICK FRANCO ALVARADO REQUENA
Resumen
"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."
Ítems relacionados
Mostrando ítems relacionados por Título, autor o materia.
-
Compendio de innovaciones socioambientales en la frontera sur de México
Adriana Quiroga -
Caminar el cafetal: perspectivas socioambientales del café y su gente
Eduardo Bello Baltazar; Lorena Soto_Pinto; Graciela Huerta_Palacios; Jaime Gomez -
Cambio social y agrícola en territorios campesinos. Respuestas locales al régimen neoliberal en la frontera sur de México
Luis Enrique García Barrios; Eduardo Bello Baltazar; Manuel Roberto Parra Vázquez