Analysis of the Dynamic Behaviour of the Hexapod Using the Simulation

Abstract

The main goal of the diploma thesis is to create a simulation model of the Acrome Stewart platform. The important tasks are creation of multibody model of the Stewart platform, generation of desired values for the control system from inverse kinematics, creation of mathematical model of DC motor with lead screw, design of control systems of the linear actuators and evaluation of control quality. By creating simulation model of the real Stewart platform, we will be able to test simulation model by defining different trajectories for the movement of end-effector or platform. From the study done using simulation model, the real model can be tested. Diploma thesis mainly focuses on creation of completely working simulation model of Acrome Stewart platform in MATLAB/Simulink environment.