| Key issues of fast simulation of the flexible supported Stewart platform with virtual technology are discussed. Investigations on the dynamics of the Stewart platform, the effects of the flexible support on the trajectory of the Stewart platform, and its motion control are carried out. Co-simulation of the model of the flexible supported Stewart platform developed using ADAMS software and control system model constructed with MATLAB software verifies the tracking control performance of the control algorithm.Firstly, the geometry model of Stewart platform is introduced, and the kinematics of the six DOF Stewart platform is deduced. Then the accurate dynamics model of Stewart platform is established using the Lagrange method, which is implemented using a MATLAB software program, and which can serve as the foundation for the further analysis.Secondly, the virtual simulation model of ideal Stewart platform is established using the ADAMS software based on the actual parameters of the Stewart platform. Simulation results validate the dynamic model of the Stewart platform deduced. The ADAMS dynamic model is exported as the plant of the MATLAB control algorithm.Thirdly, based on the fixed supported Stewart platform, the flexible supported Stewart platform is established where springs are used to suspend to Stewart platform. Classic trajectories are simulated to investigate the effects of the flexible support on the trajectories of the Stewart platform.Finally, the inverse dynamic compensation control system of the flexible supported Stewart platform is designed, and the closed-loop co-simulation model of the MATLAB/SIMULINK and ADAMS is established. |
PDF Full Text Request