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Journal of Zhejiang University SCIENCE A 2009 Vol.10 No.1 P.22~30

10.1631/jzus.A0820329


Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design


Author(s):  Wei WANG, Hua-yong YANG, Jun ZOU, Xiao-dong RUAN, Xin FU

Affiliation(s):  State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   junzou@zju.edu.cn

Key Words:  Large Gough-Stewart platform, Optimal design, Control bandwidth, Leg inertia, Generalized natural frequency


Wei WANG, Hua-yong YANG, Jun ZOU, Xiao-dong RUAN, Xin FU. Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design[J]. Journal of Zhejiang University Science A, 2009, 10(1): 22~30.

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author="Wei WANG, Hua-yong YANG, Jun ZOU, Xiao-dong RUAN, Xin FU",
journal="Journal of Zhejiang University Science A",
volume="10",
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pages="22~30",
year="2009",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A0820329"
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%T Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design
%A Wei WANG
%A Hua-yong YANG
%A Jun ZOU
%A Xiao-dong RUAN
%A Xin FU
%J Journal of Zhejiang University SCIENCE A
%V 10
%N 1
%P 22~30
%@ 1673-565X
%D 2009
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A0820329

TY - JOUR
T1 - Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design
A1 - Wei WANG
A1 - Hua-yong YANG
A1 - Jun ZOU
A1 - Xiao-dong RUAN
A1 - Xin FU
J0 - Journal of Zhejiang University Science A
VL - 10
IS - 1
SP - 22
EP - 30
%@ 1673-565X
Y1 - 2009
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A0820329


Abstract: 
We proposed an optimal design method to expand the bandwidth for the control of large hydraulic Stewart platform. The method is based on generalized natural frequency and takes hydraulic oil into consideration. A Lagrangian formulation which considers the whole leg inertia is presented to obtain the accurate equivalent mass matrix. Using the model, the effect of leg inertia and the influence of design parameters on the generalized natural frequency are investigated. Finally, numerical examples are presented to validate and confirm the efficiency of the mathematical model. The results show that the leg inertia, especially the piston part plays an important role in the dynamics. The optimum diameter ratio of the base to the moving platform is between 2 and 3, and the optimum joint angle ratio of the base to the moving platform is about 1. The smaller joint angles and a longer leg stroke are favorable for raising system frequencies. The system oil should be preprocessed for large platforms with a requirement for good dynamic performance.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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