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Analysis and Design of Controller and user Interface of a 6DOF Stewart Platform – based Hydraulic Motion Simulator for Heavy Payloads

Heydari, Mohammad Hossein | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51236 (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 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 real case studies, the purpose of this project is to design and implement a hexapad controller and user interface for samples weighing up to 2 tons which can handle linear accelerations up to 1 g, rotary accelerations up to 200 º / s2 performs at a frequency bandwidth of up to 2 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. In this study, a fuzzy PID control with a maximum error of 5% was designed in a variety of moves. In addition to the simplicity and low volume of the controller calculations, which can be implemented on a variety of industrial controllers such as PLCs, the required movement is carefully monitored. Executes It also has a user-friendly interface with a variety of capabilities and the ability to execute harmonic or arbitrary design movements
  9. Keywords:
  10. Stewart Platform ; Motion Simulators ; Six Degree of Freedom Simulation ; Manipulator ; Robot Control ; User Interface ; Six Degree of Freedom Motion Simulator

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