DEVELOPMENT AND CONTROL OF A HIGH PRECISION STEWART PLATFORM

Abstract

In this paper, development and control of a high precision 6 DOF parallel manipulator (Stewart platform) is presented. A kinematic analysis of 6-6 Stewart platform (SP) was designed and simulated in Solidworks. Also its dynamic model is developed in Matlab-Simulink environments. Platform has two main bodies (top and base plates) and six legs connecting top body to base body via universal joints. SP legs were chosen as a highresolution direct drive motor with a 500nm design resolution from PI Company. Each motor is controlled by a simple PID control within their design resolution. Optimized PID control is designed in SIMULINK environment and embedded in a Dspace DS1103 real time controller. The trajectory and position control of SP was achieved with 500nm accuracy

Keywords

• parallel manipulator, Stewart platform, nano positioning, PID

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