Design and implementation of 6-DOF parallel manipulator driven by permanent magnet brushless DC motors

Abstract

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.

Selected aspects of design and modelling of linear actuator based on PM BLDC motor

“…Control methods of parallel manipulators can be classified in respect of mathematical description form and the accuracy of manipulator positioning derived from that [21,19]. In this perspective the parallel manipulator control algorithms can be divided into two categories: first-based on the analytical methods, and second -based on numerical calculations.…”