Research on the Structural Design of the 9-3 Stewart-type Parallel Robot

Jinxin Gao

doi:10.47297/taposatWSP2633-456941.20250603

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Research on the Structural Design of the 9-3 Stewart-type Parallel Robot

6卷第3期

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Research on the Structural Design of the 9-3 Stewart-type Parallel Robot
Research on the Structural Design of the 9-3 Stewart-type Parallel Robot
Noncommissioned Officer Academy Of PAP, Hangzhou, 311400
2025年6卷第3期页码：219-222
纸质出版日期：2025-03-25
DOI：10.47297/taposatWSP2633-456941.20250603
Accepted：

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(2025). Research on the Structural Design of the 9-3 Stewart-type Parallel Robot. 科技理论与实践（英文版）, 6(3), 219-222.

Gao Jinxin.Research on the Structural Design of the 9-3 Stewart-type Parallel Robot[J].Theory and Practice of Science and Technology,2025,06(03):219-222.
(2025). Research on the Structural Design of the 9-3 Stewart-type Parallel Robot. 科技理论与实践（英文版）, 6(3), 219-222. DOI： 10.47297/taposatWSP2633-456941.20250603.

Gao Jinxin.Research on the Structural Design of the 9-3 Stewart-type Parallel Robot[J].Theory and Practice of Science and Technology,2025,06(03):219-222. DOI： 10.47297/taposatWSP2633-456941.20250603.

摘要

Abstract

This paper conducts an in-depth study on the structural design of the 9-3 Stewart-type parallel robot. Firstly

a detailed analysis is carried out for application scenarios such as aerospace and industrial manufacturing. Secondly

in the part of structural parameter design

from multiple aspects including platform size

chain parameters

and joint design

the influence of different design factors on the performance of the robot is expounded. Finally

SolidWorks is used to construct a three-dimensional model

and the ADAMS software is employed for kinematic and dynamic simulations. The model is verified and the structure is optimized through the simulation results.

关键词

Keywords

references

Qiu, X., You, J. J., Ye, P. D., & Wang, L. K. (2023). Structural Design and Singularity Configuration Analysis of the 9-3 Stewart-type Parallel Robot. Journal of Machine Design, 40(05), 1-6.

Qu, D. M. (2024, May). Design and Research of the Stewart Platform Applied to Motion Simulation [Dissertation, Shandong University of Technology, Shandong].

Bian, Zongzheng. Research on Fast Kinematics Solution and Control System of Stewart Parallel Robot [D]. Shandong: Shandong University of Technology, May 2024.

Wen, Wanghu, You, Jingjing, Ye, Pengda, Huang, Ningning, Zhang, Yi, & Li, Chenggang. The Number of Position Forward Solutions of a Zero-Coupling Stewart-Type Parallel Robot [J]. Journal of Nanjing University of Aeronautics and Astronautics. 2024, 56(05): 960-967.

Bian, Zongzheng, Liu, Yuetao, Yu, Changsong, & Jiang, Peicen. Implementation of the Kinematic Algorithm of the Stewart Parallel Robot Based on ZYNQ [J]. Transducer and Microsystem Technologies. 2024, 43(07): 141-144.

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