Title: Dynamic analysis of six-axis Stewart platform using flexible joints

Authors: Mohd Furqan; Mohd Suhaib; Nazeer Ahmad

Addresses: Department of Mechanical Engineering, Jamia Millia Islamia University, New Delhi, 110025, India ' Department of Mechanical Engineering, Jamia Millia Islamia University, New Delhi, 110025, India ' Scientist/Engineer SE, ISRO Satellite Centre, Bangalore, 560017, India

Abstract: This paper presents the dynamic modelling and finite element analysis for a six-axis Stewart platform. The paper is divided into three parts. In the first part, the dynamic modelling of the Stewart platform including inverse dynamic is presented to evaluate the various parameters for the Stewart platform using MATLAB. The second part includes the fabrication and finite element analysis of the model. The modal analysis is used to determine the mode shape or natural frequencies of the six-axis Stewart platform using ANSYS. In the third part, the experimental set-up is presented and the model is validated with the help of ANSYS and MSC ADAMS. There is a close agreement between the modal analysis results obtained by ANSYS and ADAMS. The vertical transmissibility is also obtained for each natural frequency. The corner frequency obtained by the experimental result is the same as the frequency predicted by the harmonic analysis using ANSYS.

Keywords: parallel manipulators; Stewart platform; flexible joints; dynamics; finite element analysis; mode shape.

DOI: 10.1504/IJMRS.2018.095965

International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.3, pp.214 - 233

Received: 22 Jan 2018
Accepted: 01 Jun 2018
Published online: 05 Nov 2018 *

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