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2018•DEStech Transactions on Environment Energy and Earth ScienceRequires access

Study of 6-DOF Control of the Stewart Platform

Liu Kai-feng, Dong Li, Xu Liu, Chen Zuo, Jian Zha

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Abstract

In this paper, we present a design system and control of 6-DOF parallel manipulator commonly known as the Stewart platform. It is meant as a practical guideline covering the basic theory of Stewart platforms and the actual realization. The flight simulator design is based on the Stewart platform mechanism and mainly of two platforms and six linear actuators driven by servo motors. The inverse kinematics solution is provided for the actually constructed prototype, given the position and orientation, and find the actuator lengths.

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What this paper is about

In this paper, we present a design system and control of 6-DOF parallel manipulator commonly known as the Stewart platform. It is meant as a practical guideline covering the basic theory of Stewart platforms and the actual realization. The flight simulator design is based on the Stewart platform mechanism and mainly of two platforms and six linear actuators driven by servo motors. The inverse kinematics solution is provided for the actually constructed prototype, given the position and orientation, and find the actuator lengths.

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Available abstract

In this paper, we present a design system and control of 6-DOF parallel manipulator commonly known as the Stewart platform. It is meant as a practical guideline covering the basic theory of Stewart platforms and the actual realization. The flight simulator design is based on the Stewart platform mechanism and mainly of two platforms and six linear actuators driven by servo motors. The inverse kinematics solution is provided for the actually constructed prototype, given the position and orientation, and find the actuator lengths.

Key concepts: Stewart platform, Actuator, Kinematics, Realization (probability), Mechanism (biology), Parallel manipulator, Inverse kinematics, Control theory (sociology)

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