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This paper presents selected issues connected with the design and implementation of the 6-DOF parallel manipulator driven by permanent magnet brushless DC motors. The consideration of platform kinematics structure, computer design and simulation of mechanical framework as well as building and utilization of the reduced-scale physical are presented. The development, implementation and testing of the described model allowed to identify some important implementation issues related to the control of a parallel manipulator. The achieved results has made possible to modify the objectives of design and implementation for the designed target Stewart platform based on PM brushless BLDC motors.

The article describes process of design and modeling PM BLDC motor operating in a linear actuator. The actuator drive mechanism is implemented on base of a ball screw. The possibility of applying the simplifications consequent by the need for the implementation of model realtime calculation was considered. The differences in the results generated using such models in comparison to the full model was also taken into account. Furthermore, it was presented the structure of the real actuator control system. The results of computer simulations were compared with the measurements waveforms, obtained on the test bench. (Wybrane aspekty projektowania i modelowania siłownika liniowego zrealizowanego na bazie silnika PM BLDC) Streszczenie. W artykule opisano proces projektowania i modelowania silnika PM BLDC pracującego w siłowniku liniowym. Mechanizm posuwu siłownika realizowany jest na śrubie kulowej. Rozważono możliwości stosowania uproszczeń wynikających z potrzeby realizacji obliczeń w czasie rzeczywistym. W badaniach uwzględniono różnice w wynikach generowanych przy użyciu modeli uproszczonych w porównaniu do modeli pełnych. Ponadto zaprezentowano strukturę układu sterowania rzeczywistym siłownikiem. Uzyskane wyniki symulacji komputerowych zestawiono z przebiegami pomiarowymi otrzymanymi na stanowisku badawczym.

The paper describes walking robot Hexor®II that has been designed as versatile platform for engineering education. It was designed, manufactured, tested and introduced for teaching process by Silesian University of Technology and Stenzel Ltd. The project of robot was undertaken basing on the previous long experience of above partners in the field of advanced power electronics. The robot allows for teaching the knowledge that embraces many fields such as mechanical engineering, electrical engineering, electronics, power electronics, control engineering, microprocessor technique, elements of telecommunications, mechatronics and even also a certain knowledge of biology (use of biological prototypes). Four years of experience proved that described robot is extremely useful teaching aid, giving student great amount of interdisciplinary knowledge that reaches far beyond accepted standards.

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