KINEMATIC SYNTHESIS OF THE GOUGH-STEWART PLATFORM IN ADAMS AND MATLAB.

In this paper, the kinematic synthesis of a parallel Gough-Stewart platform mechanism is addressed in order to achieve the motion of the working part of the mechanism along a prescribed trajectory. A virtual prototype of this platform was created in the environment of the dynamics of systems bodies program ADAMS. In the process of cosimulation of MATLAB, MATLAB/Simulink and ADAMS, the input trajectories of actuator velocities necessary to achieve the desired motion of the effector point were identified. The trajectory was defined by parametric equations for the epitrochoid, hypocycloid, epicycloid and Archimedes spiral. The velocities of the actuators were derived by deriving the position vector of the distances between the base and platform points. The solution logic using the given software is presented by a block diagram. [ABSTRACT FROM AUTHOR]