Dynamic schematic Model simulation of fabricated In-parallel compliant Mechanism based on Stewart platform

Zulfiqar Ali Soomro


The In-parallel compliant mechanism was fabricated on basis of the Stewart platform robot consisting on six parallel prismatic joints attached by smaller upper plate to bottom plate by pins showing 6 DOF. Its dynamics is described by its kinematics through local and global coordinate transformation system. The orientation system is displayed by local and global system of each leg of the six legs. The orientation denoted by angles in reference to central spherical bottom plate. The manual graphical results for local and global coordinate system have been compared by computer simulated results. The manual top view and computational elevation difference has been observed.


local and global Coordinate system, orientation, 6 DOF, prismatic joints.

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