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Analysis and Design of Controller and User Interface of a 6DOF Stewart Platform-Based Hydraulic Motion Simulator for Heavy Payloads
, M.Sc. Thesis Sharif University of Technology ; Durali, Mohammad (Supervisor)
Abstract
Motion simulators have been highly sought after by the growth of the aerospace industry. In the meantime, the Stewart mechanism, or the so-called Hexapads, is a robot that, in addition to being used in machining tools, is mainly used to simulate the flight. The Stewart-Gaph mechanism was created and introduced in 1954 and 1965, and since then dynamics and control have been widely addressed in the mechanical engineering literature. The robot is considering the project to test parts and equipment installed in marine vessels under sea movements and waves. Therefore, according to information obtained through relevant organs, the purpose of this project is to design and implement a hexapad...