Nowadays, in a lot of fields -as military, surgical and industrial- parallel mechanisms usage is increasing. Parallel mechanisms are the structures located between two rigid bodies and linked with at least two open kinematic chains. Stewart Platform Mechanism (SPM) with 6 degrees of freedom is the best example of this mean. For SPM, mostly seen structures are connection arms with the adjustable length between the fixed lower bed and movable upper plate in literature. In this thesis, with fixed length arms, studies have been made on a model that provides linear movement by the lower joint of arms that placed parallel to the ground and its working-space has been examined. By type synthesising on this model idea and removing undesirable outcomes according to singularity index calculations, schematic system necessities have been determined.
As the first step, 6x3 type platform structure has been created on the Matlab environment and the main measurements on this structure have been printed as a metric full-sized product on a 3D solid model design by 3D printer. Proper platform mechanism has been created for the thesis's purpose by assembling the produced parts of the design. The solution set for the platform structure has been gathered by using kinematic equations, geometric and working-space analysis. Kinematic calculation process transferred to the embedded electronic control system. Control algorithms have been developed and optimized on software.
In this thesis study, control stick and, data obtained from the angular sensor has been used. System running conditions are shown simultaneously on an LCD panel. Controls of the motor systems which makes linear movements relative to the ground have been built with microcontrollers which are independent. With this process, parallel work-share has been made. Besides, a powerful statistical estimation method, the Kalman filter has been used to clear the data gathered from angular sensor measurements. |