| As the Stewart platform is more and more widely applied in modern engineering project, it is exigent to design computer aided design software for designing new platforms much more efficiently because of the complexity in kinematics and dynamics of the Stewart platform itself. There are lots of matrix calculations during analyzing Stewart platform, considering the strong function in matrix calculation and simulation of MATLAB, creating an integrated toolbox under MATLAB environment for Stewart platform will be actualized in this dissertation.Firstly, the calculation theories of pose forward and inverse, velocity inverse, acceleration inverse and dynamic parameters of the Stewart platform are dissertated in this dissertation. Several relevant programs basing on these theories above will be compiled as followed. A static 3D model of the Stewart platform will be made by VRML, too. After designing a logical structure for the toolbox, these two parts of wok will be integrated using GUIDE and VR Toolbox of MATLAB.There is also an experiment to test the validity of the calculation of the kinematics and dynamics parameters in this dissertation. It will primarily verify the displacement, the spread velocity and acceleration of each hydraulic cylinder when the platform heaving a sine motion. Using the cubic spline interpolation, an efficient method considered by the academe, calculate the spread velocity and acceleration of the cylinder. And then compare the two kinds of data measured in the experiment, calculated by interpolation and calculated by the program.The correctness of toolbox's calculation function is proved by the result of the experiment and the analysis. |
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