Design and analysis of the stewart platform

In this study, kinematic analysis, dynamics analysis and control of a Stewart platform using linear motors have been carried out. The main aim of this study is to obtain higher acceleration, velocity and to increase the efficiency using linear motors. In the kinematic analysis, lengths of the legs are found by using inverse kinematic method. Inverse Jacobian matrix is obtained to find velocity vectors. In the dynamic analysis, Lagrange equation and Newton Euler method are used to obtain the general equations of motion of Stewart platform. The leg dynamics of the system is carried out by using Lagrange equation. Moving platform dynamics is then combined with leg dynamics by means of Newton Euler method. In order to perform dynamic simulation, the required actuator forces are computed by developed MATLAB code. In addition, to determine the effect of the lower part of the leg inertia, dynamic simulation is performed both with and without inertia of the lower part of the leg. PID control of Stewart platform is performed by using the mathematical model of the system in MATLAB/Simulink. Using the linear motors dynamic equation, its transfer function is derived and block diagram is obtained in Simulink. Finally, some case studies are performed to verify the developed control system. The simulation results are presented.