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Analysis and Design of Controller and User Interface of a 6DOF Stewart Platform-Based Hydraulic Motion Simulator for Heavy Payloads

Alizadeh, Hadi | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51244 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Durali, Mohammad
  7. Abstract:
  8. 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 controller and user interface for samples weighing up to 2.5 tons which can handle linear accelerations up to 1 g, rotary accelerations up to 150 º / s2 performs at a frequency bandwidth of up to 5 Hz. In recent years, hexapads have been built inside the country, which are generally designed for smaller specimens or slower movements that do not meet the requirements of this proposal. External hexadoes also have fewer features, or they are either expensive or not available due to sensitive technology. In this regard, the implementation of this project is important in the interior
  9. Keywords:
  10. Stewart Platform ; Motion Simulators ; Hexapod Robot ; Six Degree of Freedom Simulation ; Hydraulic Dynamics

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