Selçuk KIZIR, Zafer BINGÜL, Cüneyt OYSU, Serdar KÜÇÜK

DEVELOPMENT AND CONTROL OF A HIGH PRECISION STEWART PLATFORM

In this paper, development and control of a high precision 6 DOF parallel manipulator (Stewart platform) is presented. A kinematic analysis of 6-6 Stewart platform (SP) was designed and simulated in Solidworks. Also its dynamic model is developed in Matlab-Simulink environments. Platform has two main bodies (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,

PDF

___

K.H. Hunt. Structural kinematics of in-parallel-actuated robot-arms. ASME J. Mech., Trans. Automat. Des., vol. 105, pp. 705–712, 1983
B. Dasgupta, T.S. Mruthyunjaya. The Stewart Platform manipulator: a review. Mechanism and Machine Theory 35 (2000) 15-40, December 1998
P. Nauna, K.J. Waldron and V. Murthy. Direct kinematic solution of a Stewart Platform. IEEE. Trans. Robotics Automat. 6 (4), 438-444, 1990.
J. P. Merlet. Direct kinematics and assembly modes of parallel manipulators. Int. J. of Robotics Research, 11(2):150-162, 1992
N. X. Chen and S. M. Song. Direct position analysis of the 4-6 Stewart Platform. ASME J. of Mechanical Design, 116(1):61-66, 1994
Q. Liao, L. D. Seneviratne and S.W.E. Earles. Forward kinematic analysis for the general 6 Stewart Platform. Intelligent Robots and Systems, IROS '93. Proc. of the IEEE/RSJ International Conference, Volume 3, pp. 1659-1665, July 1993
E.F. Fitcher. A Stewart Platform-Based Manipulator: General Theory and Practical Construction. Int. J. of Robotics Research, Vol5 No 2 pp 157-182, 1986
D. Kim and W. Chung. Analytic Singularity Equation and Analysis of Six-DOF Parallel Manipulators Using Local Structurization Method. IEEE Transactions on Robotics and Automation, Vol. 15, No. 4, August 1999.
J. Sefrioui and C.M. Gosselin. Singularity analysis and representation of planar parallel manipulators. Robot. Autom. Syst., vol. 10, pp.209-224, 1993
L.W. Tsai. Solving the inverse dynamics of a Stewart–Gough manipulator by the principle of virtual work. J. Mech. Design (122):3-9, 2000
B. Dasgupta, and T.S. Mruthyunjaya. A Newton–Euler formulation for the inverse dynamics of the Stewart Platform manipulator. Mech. Mach. Theory, 33(8):1135- , 1998
C.C. Nguyen and F.J. Pooran. Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems. Robot. Autom. Syst., 5, 377-394, 1989
G. Lebret, K. Liu, and F.L. Lewis. Dynamic analysis and control of a Stewart Platform manipulator. J. Robot. Syst., 10(5):629-655, 1993
J.D. Lee and Z. Geng. A dynamic model of a flexible Stewart Platform. Comput. Struct., 48(3):367-374, 1993
J. Gallardo, J.M. Rico, D. Checcacci, and M. Bergamasco. Dynamics of parallel manipulators by means of screw theory. Mech. Mach. Theory, 38(11):1113-1131,
J.G. Wang and C.M. Gosselin. A new approach for the dynamic analysis of parallel manipulators. Multibody Syst. Dyn., 2, 317-334, 1998
S.H. Koekebakker, P.C. Teerhuis, A.J.J. Van der Weiden. Alternative parameterization in modelling and analysis of a Stewart Platform. Sel. Topics Ident. Model. Contr., , 59–68, 1996
M.J. Liu, C.X. Li and C.N. Li. Dynamics analysis of the Gough-Stewart Platform manipulator. IEEE Trans. Robot. Autom., 16(1):94-98, 2000