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Dimensional optimization of the Stewart platform based on inertia decoupling characteristic

Published online by Cambridge University Press:  08 August 2014

Zhihua Liu,
Xiaoqiang Tang,
Zhufeng Shao and
Liping Wang
Zhihua Liu
Affiliation:
Department of Mechanical Engineering, The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Xiaoqiang Tang*
Affiliation:
Department of Mechanical Engineering, The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Zhufeng Shao
Affiliation:
Department of Mechanical Engineering, The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Liping Wang
Affiliation:
Department of Mechanical Engineering, The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
*
*Corresponding author. E-mail: tang-xq@mail.tsinghua.edu.cn
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Summary

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Inertia strongly influences the dynamic performance of parallel manipulators, and ignorance of inertia is apt to result in negative phenomena such as vibrations, overshoot, and slow response. This study analyzes the inertia-decoupling characteristic of Stewart platform. Because the inertia matrix of the Stewart platform is usually non-diagonal, inertia coupling occurs between its legs. Herein, decoupling to inertia is implemented, and independent control channels are determined. The influence of decoupled inertia on the control system is analyzed using the Adams simulation software, and the inertia index of the Stewart platform is proposed. Experiments are conducted on a prototype of the Stewart platform to verify the eigenvalue characteristic of decoupled inertia. The distribution of inertia index in the operational workspace is provided, and the influence of dimensional parameters on inertia index is discussed. Finally, dimensional optimization is realized with a set of optimized dimensions for good dynamic performance.

Keywords

Inertia matrixDecouplingEigenvalueParallel manipulator

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016, pp. 1151 - 1167
Copyright
Copyright © Cambridge University Press 2014 

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