DEVELOPMENT AND CONTROL OF A HIGH PRECISION STEWART PLATFORM

Authors : Selçuk KIZIR, Zafer BINGÜL, Cüneyt OYSU, Serdar KÜÇÜK

Pages : 51-59

View : 15 | Download : 7

Publication Date : 2011-03-01

Article Type : Research Paper

Abstract :In this paper, development and control of a high precision 6 DOF parallel manipulator insert ignore into journalissuearticles values(Stewart platform); is presented. A kinematic analysis of 6-6 Stewart platform insert ignore into journalissuearticles values(SP); was designed and simulated in Solidworks. Also its dynamic model is developed in Matlab-Simulink environments. Platform has two main bodies insert ignore into journalissuearticles values(top and base plates); and six legs connecting top body to base body via universal joints. SP legs were chosen as a highresolution direct drive motor with a 500nm design resolution from PI Company. Each motor is controlled by a simple PID control within their design resolution. Optimized PID control is designed in SIMULINK environment and embedded in a Dspace DS1103 real time controller. The trajectory and position control of SP was achieved with 500nm accuracy
Keywords : parallel manipulator, Stewart platform, nano positioning, PID