A 6DOF Motion Platform with Permanent Magnet Linear Motors
Abstract
The paper deals with the modelling andsimulation of a six-degree-of-freedom (6DOF) motion
platform with permanent magnet linear actuators. The
notion and structure of a 6DOF platform (a.k.a. Stewart
platform) is well known. The main aim of this paper is to
find and describe a suitable solution for applications
requiring high dynamics and position accuracy. For this
reason, permanent magnet linear actuators, characterized
by their high dynamics and accuracy, have been used –
despite their still considerable (albeit gradually decreasing)
price tag per unit of power. Furthermore this paper
develops a mathematical model to be later employed for the
scaling and design of the platform controls.
References
K. Belda, “Mathematical Modelling and Predictive Control of Permanent Magnet Synchronous Motor Drives”, Transaction on Electrical Engineering, Vol. 2, No. 4, 2013.
J. Domagoj and L. Budin, “Forward Kinematics of a Stewart Platform Mechanism”, 6th International Conference on Inteligent Engineering Systems, May 2002.
P. Hospodář, “Stewartova platform”. Research study of Aerospace Research and Test Establishment, Prague, Czech Republic, unpublished.
CE. Miller, AW. Zyl and CF. Landy, “Modelling a Permanent Magnet Linear Synchronous Motor For Control Purposes”, IEEE Africon, 2002.
D. Stewart, “A Platform with Six Degrees of Freedom”, UK, Institution of Mechanical Engineers Proceedings, Vol 180, 1965.
E. Thöndel, “Design and Optimal Control of a Linear
Electromechanical Actuator for Motion Platforms with Six Degrees of Freedom”, Intelligent Automation and Systems Engineering, Springer, 65-77, 2011.
E. Thöndel, “Simulation of a 6DOF Motion Platform with Linear Permanent Magnet Synchronous Motors”, Online:
http://youtu.be/AZjgcrV642c, 2014.
Raveo, s.r.o., “Lineární motory”, Online: http://www.raveo.cz/.
