Dynamic Analysis of Stewart Platform by Bond Graphs

Abstract

Dynamic model of Stewart platform was developed using bond graph technique in the paper. Stewart platform has simple, compact structure with high stiffness, high strength-to-weight ratio that make it very desirable in manufacturing technology. Due to closed loop structure and kinematic constraints, dynamic analysis of such systems is rather complicated. The paper proposes a general, object oriented modelling formulation based on bond graph component model approach to develop dynamic model of a hexapod system. Model is developed and simulations were carried out using software package BondSim. Dynamic model is generated in form of differential-algebraic equation (DAEs) and solved by BondSim.