Combined Motion Generation by Electro-Hydraulic Stewart Platform for Manufacturing Industries

Abstract

In this paper, a detailed study of combined types of motion generation in real time experiment by a laboratory scale six-legged electro-hydraulic Stewart platform has been explored. The combined motions generated by this platform are circular, elliptical, parabolic, tilting and cylindrical motions which are produced with the help of combination of the three basic translation motions as well as rotational motions about three basic axis of the platform. A proportional and integral (PI) controller is applied in the leg level error and its output voltage is used to control the proportional valve of each actuator to acquire combined motion of the platform. The forward kinematic modeling has been developed here to obtain the platform motion for the corresponding piston response in the real time experiments.