A complete dynamic analysis of Stewart platform including singularity detection

In recent years, the field of parallel manipulators has expanded significantly in applications requiring high precision, loading capacity, accuracy, rigidity and high velocity. Stewart platform (hexapod) is the most common type of parallel manipulators, as one having six degrees of freedom. The limited workspace, complex kinematic / kinetic solutions and singularities inside the workspace are the most important problems encountered with regard to this type of robots. In this thesis, Stewart platform produced in Mechanical Engineering Department is investigated in details by modeling and simulation, dynamic analysis and singularity detection. Design and simulation stage was performed by VisualNastran software before producing the prototype. Workspace of Stewart platform was examined by a computer code developed in MATLAB program. The effects of some geometric and kinematic parameters on the workspace are determined for different orientations of the moving platform. The actuator forces computed under the influence of leg weights on the workspace boundaries are compared for different joint positions. This triple interaction exposes the requirement of an optimization study. Singularity situation of Stewart platform is also searched deeply considering many aspects based on trajectory planning. In this manner, a complete package of analysis focused on Stewart platform is presented. The results of this study may be utilized by design, analysis, simulation and production purposes. Keywords: Stewart platform, hexapod, workspace, singularity, trajectory planning