Dynamic modeling and experimental analyses of Stewart platform with flexible hinges

Abstract

A new dynamic model of the Stewart platform with flexible hinges is proposed based on the Kane equation combined with the principle of virtual powers. Firstly, the model and coordinates introduced are described. Specifically, the velocity and acceleration of each part are obtained through kinematics analysis. Secondly, balance equations are subsequently formulated using the principle of virtual powers. Noting that the vibration amplitude of satellites is very small in the space microgravity environment, a linearly simplified form of the dynamic equation of the Stewart platform with flexible hinges is obtained. Finally, the validity of the equations is experimentally and numerically verified, and it is also demonstrated that the proposed platform possesses a good vibration isolation performance. All the results presented in this paper lay the foundation for further study on vibration control using a Stewart platform.