Study of 6-DOF Control of the Stewart Platform

KAI-FENG LIU, DONG LI, XU LIU, CHEN ZUO, JIAN ZHA

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.

Keywords


Stewart platform, 6-DOF, Control, Inverse kinematics.Text


DOI
10.12783/dteees/epme2018/24636

Refbacks

  • There are currently no refbacks.