سال انتشار: ۱۳۸۴

محل انتشار: اولین کنفرانس بین المللی و هفتمین کنفرانس ملی مهندسی ساخت و تولید

تعداد صفحات: ۸

نویسنده(ها):

M Shokri – Master Science student of Mechanical Engineering Department, Iran University of Science and Technology
M.H Korayem – Professor of Mechanical Engineering Department, Iran University of Science and Technology

چکیده:

In this paper, a computational method for obtaining maximum dynamic payload carrying capacity for the 6-UPS Stewart platform manipulator is developed. In this method, the manipulator is supposed is a rigid manipulator and thus the joint actuator torque capacity is considered as the major limiting factor in determining the maximum payload. For a given trajectory, the maximum dynamic payload carrying capacity of manipulator is established while dynamic model of a typical hydraulic actuator system is used in the joint actuator force capacity.