DEVELOPMENT AND CONTROL OF A HIGH PRECISION STEWART PLATFORM

Selçuk KIZIR; Zafer BINGÜL; Cüneyt OYSU; Serdar KÜÇÜK

Makale detayları

DEVELOPMENT AND CONTROL OF A HIGH PRECISION STEWART PLATFORM

Yazarlar:

Selçuk KIZIR | Zafer BINGÜL | Cüneyt OYSU | Serdar KÜÇÜK

Yayıncı:

Isparta University of Applied Sciences

Dergi:

International Journal of Technological Sciences 2011 Vol.3 Issue 1, pp.51-59

Belge Tipi:

Makale

Yayın Tarihi:

2/2011

Belge Dili:

Türkçe

Document ID (Org No.):

2000749583

Sıklık:

Aylık

eISSN:

1309-1220

Özet:

 

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.

Makale detayları

DEVELOPMENT AND CONTROL OF A HIGH PRECISION STEWART PLATFORM

Yazarlar: Selçuk KIZIR | Zafer BINGÜL | Cüneyt OYSU | Serdar KÜÇÜK

Yayıncı: Isparta University of Applied Sciences

Dergi: International Journal of Technological Sciences 2011 Vol.3 Issue 1, pp.51-59

Belge Tipi: Makale

Yayın Tarihi: 2/2011

Belge Dili: Türkçe

Document ID (Org No.): 2000749583

Sıklık: Aylık

eISSN: 1309-1220

Sayı

Yazarlar:

Selçuk KIZIR | Zafer BINGÜL | Cüneyt OYSU | Serdar KÜÇÜK

Yayıncı:

Isparta University of Applied Sciences

Dergi:

International Journal of Technological Sciences 2011 Vol.3 Issue 1, pp.51-59

Belge Tipi:

Makale

Yayın Tarihi:

2/2011

Belge Dili:

Türkçe

Document ID (Org No.):

2000749583

Sıklık:

Aylık

eISSN:

1309-1220