The mechanical structure known as Stewart–Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the... more
The mechanical structure known as Stewart–Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the Stewart–Gough platform, many details about these topics are still a challenging problem. In this work, the use of automatic dynamic analysis of multibody systems software for the kinematic and dynamic analysis of the Stewart–Gough platform is proposed. Moreover, a co-simulation automatic dynamic analysis of multibody systems (ADAMS)-MATLAB is developed for motion control of the Stewart–Gough platform end-effector. This computational approach allows the numerical solution for the kinematics, dynamics, and motion control of the Stewart–Gough platform and a considerable reduction on the analytical and programming effort. The obtained results in the three topics (kinematics, dynamics, and control) are validated by comparing them with analytical results reported in the literature. This kind of computational approach allows for the creation of virtual prototypes and saves time and resources in the development of Stewart–Gough platform-based robots applications.
The comfort of passenger and stability of a vehicle are the key objective of any passenger car. Stability of the vehicle should not be provided at a cost a passenger's comfort level. The purpose of this paper is to find out the response... more
The comfort of passenger and stability of a vehicle are the key objective of any passenger car. Stability of the vehicle should not be provided at a cost a passenger's comfort level. The purpose of this paper is to find out the response behavior for wagon-r car during road irregularities by performing quarter model dynamic simulation in ADAMS. The work represents a response of existing suspension system in various weight and bump height condition. To conclude Eighteen simulations were conducted for different weight and for various bump heights, as a result, seventy-two graphs show the overall results with different criteria. Novelty of this paper is presented in its response pattern, results and conclusion for various inputs. In the end, results show whether the response pattern of the wagon-r car is proper or it needs some improvisation to achieve better results.
