Computer Simulation Study of Stiffness Variation of Stewart Platform under Different Loads

Abstract

The ability of Stewart platform to resist deformation is an important target for designing and optimizing the platform, and studying the variation rule of stiffness of Stewart platform under different loads can help us to understand the dynamic characteristics of the platform, guide the design and control of the platform, and improve the performance and stability of the platform. The purpose of this paper is to change the law of stiffness variation and influence factors of Stewart platform under different loads, aiming to study the change of stiffness of Stewart platform under different loads as well as the influence factors, and the influence of stiffness change on the performance and stability of the platform. Firstly, using MATLAB software, the kinematic and mechanical model of Stewart platform was established, the analytical expression of the stiffness matrix of the platform was deduced, and the stiffness characteristics and stiffness singularity of the platform were analyzed. Then, using ADAMS software, the dynamic simulation model of the Stewart platform was established, and the stiffness of the platform was simulated and analyzed. The results show that the stiffness of the Stewart platform will appear singularity or sudden change under some special positions or loads, which should be avoided as much as possible so as not to affect the performance and stability of the platform. There is a certain correlation between the dynamic and static stiffness, but it is also affected by the nonlinearity of the structure, damping, coupling and other factors.