| Summary: | 碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 101 === This study proposes an application design for Stewart platform. The Stewart platform is selected to function as a mass center adjusting mechanism. The mechanism is attached to the chassis of a coaxial two-wheeled self-balancing car so that the mass center of the car can be shifted backward and forward to change the car speed. Besides, the mechanism can be applied to adjust the contacting forces between
wheels and the ground if the mass center is shifted to the left and right of the car.
In order to verify the feasibility of the design, the dynamic behavior of the car and the designing requirements for the Stewart platform are examined by using dynamic simulations on both sagittal plane and coronal plane. Therefore, the equation of motion of the car is derived from Lagrange mechanics. The driving torques to the wheels for balancing control, velocity control, and direction control are all determined by PID controllers. An algorithm for determining the displacement, that the mass center should be shifted to prevent losing contact force between wheels and the
ground, is also introduced. The results of dynamic simulation show that the proposed application is feasible. Designing requirements for synthesizing the dimensions of the adjusting mechanism are also determined from the simulations.
Finally, the dimensions of the desired Stewart platform are determined according to the designing requirements. The workspace of the Stewart platform is then investigated by inversed kinematic analysis method. Since the workspace includes the necessary space for the proposed application, which means the specified dimensions of the Stewart platform is valid.
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