20170

Maximum Dynamic Load Carrying Capacity of a 6UPS-Stewart Platform Manipulator

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In this paper, a computational method for obtaining the maximum Dynamic Load Carrying Capacity (DLCC) for the 6-UPS Stewart platform manipulator is developed. In this paper, the manipulator is assumed to be non-rigid and the joint actuator torque capacity and accuracy of motion are considered major limiting factors in determining the maximum payload. The maximum dynamic payload carrying capacity of the manipulator is established, while the dynamic model of a typical hydraulic actuator system is used in the joint actuator force capacity for a given trajectory. The flexibility of the manipulator is assumed to be eventuated from the manipulatorיs joints flexibility. According to the high complexity of the dynamic equations system of the flexible joints parallel manipulators, the effects of the flexibility of the prismatic joints are considered in a static situation to show the considerable effects of the jointיs flexibility on the motion accuracy of the 6UPS-Stewart platform. This method can be used for determining the maximum dynamic payload, which acts as an end-effector for the mechanical design of the manipulator and the optimized selection of the actuator, such as machine tools, based on the hexapod mechanism.

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