Dynamics modeling of a stewart platform in Simulink MSC ADAMS

Abstract

The Stewart platform is a six-axis parallel robot manipulator with a force to weight ratio and positioning accuracy far exceeding that of a conventional serial link arm. Its stiffness and accuracy approaching that of a machine tool yet its workspace dexterity approach that of a conventional manipulator. In this article, we study the dynamic of the Stewart platform manipulator. The 3D geometric model was created by using 3D CAD modeler CATIA. The multibody dynamics model of the motion simulator has also been created by using the general purpose dynamic analysis program MSC ADAMS to validate the design of the motion simulator.