Project database

The page provides a list of national and international projects where FER participates or has participated as a project coordinator or partner.


Projects

   

Project

Acronym:
Hexapod 
Name:
Programska podrška modeliranju Stewartovih paralelnih mehanizama 
[PROJECT URL ]
Project status:
From: 2002-01-01 To: 2003-01-01 (Completed)
Type (Programme):
iProjekti 

Croatian partner

Organisation name:
- 
Contact person name:
Contact person tel:
- 

Short description of project

This project incorporates several key elements in the process of modelling of parallel manipulators based on Stewart parralel mechanism (SPM), also known as hexapod. Mahtematical models that describe two common forms of SPM's are devised and their kinematic properties are discussed. We further present the methods that allow for calculation of hexapod workspace, its volume and shape, as well as the 3D visualisation. Several models for error estimation of SPM have been devised and implemented. There is also the possibility of finding the optimal set of mechanism parameters regarding its desired properties, such as workspace volume, manouverability, maximum allowed error boundaries and so on. The project also includes the calculation of forward kinematics, which is a problem with no analitical solution. The most of this functionality is available through Web interface as a Web application which runs on server side. Furthermore, the implemented algorithms are available as free downloadable code which can be run on client machines.