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Dynamics, Control, and Design of the Structure of a 6DOF Stewart Platform – Based Hydraulic Motion Simulator for Heavy Payloads

Soufi Enayati, Amir Mahdi | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51242 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Durali, Mohammad
  7. Abstract:
  8. The robot considered in this project is to test parts and equipment installed in marine vessels under sea movements and waves. After a thorough assessment amongst common solutions to problems of this kind, a Stewart-Gough based manipulator has been chosen so that all the requirements could be satisfied. Therefore, according to the information obtained through relevant organisations, the purpose of this project is to work on dynamics, control, and design of the structure of a 6DOF Stewart platform – based hydraulic motion simulator for heavy payloads for samples weighing up to 2.5 tons which can handle linear accelerations up to 10 m/s2, rotary accelerations up to 150 º/s2 performing at a frequency bandwidth of up to 2 Hz and to be designed for manufacturnig. In this thesis, the robot has been designed to perform optimum kinematic indices throughout the workspace. Then, other hydraulic equipment have been designed or chosen. Afterwards using robust approximate dynamics method a controller has been developed which performed well enough theoretically according to design purposes. The forward kinematics has been solved using an offset regulated artificial neural network with agreeable precision and speed in the meantime. Remarkably, in recent years, hexapods that 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. Oversees hexapods either 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 for inland purposes
  9. Keywords:
  10. Motion Simulation ; Multiobjective Optimization ; H-infinity Method ; Stewart Platform ; Six Degree of Freedom Motion Simulator

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