Modeling And Dynamic Simulation Of Stewart Platform

Stewart platform belongs to parallel manipulator, with many advantages of large bearing capacity, good rigidity, high precision, fast system dynamic response, without accumulative error, etc. So it is widely used to in these fields, such as, robot, flight simulator, new type machine, large radio telescope. For accomplishment its optimizing design, real emulation and control, you must have a full knowledge of the manipulating structure's kinematics and dynamics.Firstly, this paper analyses the kinematics and dynamics of the Stewart platform in detail based on the Newton-Euler approach.Secondly, on the foundation of building the simple kinematical equation of the Stewart platform, the variable 3D model was set up based on the I-DEAS engineering software. The leg long change data was obtained varying with time, then they were served as input parameters, and then the dynamic simulation was performed. Further the displacement, velocity, acceleration of the platform center, the restrained forces acted at joints and the driving forces on the six legs varied with time are plotted individually. The physical analysis about these results was express in this paper. From the curves plotted above, the simulation results are studied in detail which establishes a foundation for the driving control of Stewart platform.Finally, based on the ANSYS software, the Finite Element Analysis model of the Stewart platform configuration at zero position was set up. Then modal analysis was performed about it, the natural frequencies and different structures are found. The result lays a solid base for the design and control of the parallel manipulator.