Six degrees of freedom Stewart platform to verify the rocket dynamic sensing system

• Main Author: 曹修銓
• Other Authors: 陳宗麟
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/37961885736190841419

碩士 === 國立交通大學 === 機械工程系所 === 102 === In order to collect many kinds of information at high altitude air, many devices such as, accelerator and gyroscope…etc, are equipped on rocket. However, a lot of tests and experiments need to undergo for accuracy of detecting system when rocket is flying and measuring range of detecting system, before launch. Rocket flying trajectory can be simulated from computer software, but if there’s hardware can simulate the path and real conditions in air, then the simulation result of this system will be more convincing than software. Stewart Platform is a 6-axes device, belonged to one kind of parallel manipulator. Compare to traditional parallel manipulator, Stewart platform is much stiffer, less inertia, higher loading ability and more accurate, owing to closed loop constrain. Hence it usually applies on simulations with high weight loading and high speed. Depends on these advantages and requests of rocket flying, this study proposes a verifying system by Stewart platform to design a coordinate with 3 axes linear acceleration and 3 axes angular velocity, and prove them. This system can verify detecting system and simulate status of flying, furthermore, can also design and test controller of rocket.