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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2009, Vol. 10 Issue (1): 22-30    DOI: 10.1631/jzus.A0820329
Mechanical & Civil Engineering     
Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design
Wei WANG, Hua-yong YANG, Jun ZOU, Xiao-dong RUAN, Xin FU
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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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.

Key words： Large Gough-Stewart platform      Optimal design      Control bandwidth      Leg inertia      Generalized natural frequency     
Received: 30 April 2008     
CLC:  TP242  
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Wei WANG
Hua-yong YANG
Jun ZOU
Xiao-dong RUAN
Xin FU
Cite this article:

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. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2009, 10(1): 22-30.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.A0820329     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2009/V10/I1/22

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