Application of the Stewart Platform in the High Speed High Accuracy Domain

迫切需要小型、普遍适用、高速、 用于组装微电子器件高精度组装机构 和其他类似的物体。 高速 微定位器难以设计，制造昂贵， 很难保持令人满意的工作状态。 斯图尔特 平台具有作为六自由度的应用潜力 微定位器 它已成功地应用于低速， 低精度应用。 它提供卓越的机械性能， 刚度大，制造容易且成本低。 没有 对Stewart平台的应用进行了研究 作为高速、高精度的制造或装配机器。 这一操作领域发展了显著的非线性惯性 质量动力学中的术语，这使得控制困难。 这 项目研究运动合成技术，以解耦， 线性化质量动力学。 状态变量模型 正在开发的机制是基于线性化的 运动方程 控制是模拟高速，高 精确运动 该模拟反映了商业上可获得的 件. 多余的腿的影响 消除齿隙和提高稳定性也进行了研究。 斯图尔特平台也有可能同时充当 定位器，并主动拒绝外部施加的振动 载荷 其可行性也正在研究之中。

A critical need exists for small, universally applicable, high speed, high accuracy assembly mechanisms for assembly of microelectronics and other similar objects. High speed micropositioners are difficult to design, expensive to build, and difficult to maintain in satisfactory working order. The Stewart platform has potential for application as a six degree of freedom micropositioner. It has been successfully applied in low speed, low accuracy applications. It provides exceptional mechanical stiffness and is easy and cost effective to manufacture. No research has been done in the application of the Stewart platform as a high speed, high accuracy manufacturing or assembly machine. This realm of operation develops significant nonlinear inertial terms in the mass dynamics, which render control difficult. This project examines kinematic synthesis techniques to decouple and linearize the mass dynamics. A state variable model of the mechanism is being developed which is based upon the linearized equations of motion. Control is simulated for high speed, high accuracy motion. The simulation reflects commercially available components. The influence of extra, redundant legs in eliminating backlash and enhancing stability are also studied. The Stewart platform also has potential to simultaneously act as a positioner and actively reject externally applied vibration loads. The feasibility of this is also being developed.