Abstract

Parallel kinematic mechanisms with serve-hydraulic actuation can provide multi-degree of freedom (DOF) motion with unequalled power output and dynamic response. A good example is the hydraulic Stewart platform typically used for flight simulator motion systems. This paper considers parallel servohydraulic mechanisms in which the hydraulic cylinders form legs which connect a base to a table. Their design involves balancing a number of conflicting requirements: The geometry of the mechanism dictates the length of the cylinders which in turn dictates a maximum actuator stroke, and hence a maximum table displacement. The geometry also dictates how the velocity and force requirements for the table translate into velocity and force requirements for the actuators, determining actuator sizing and the hydraulic flow requirements. The size of the actuator determines its mass and inertia properties, as well as its hydraulic stiffness, and will influence the resonant frequencies of the table. These frequencies in turn affect the achievable closed-loop bandwidth. A design method is proposed which allows one parameter to be optimised whilst adhering to the other design constraints. A detailed example is presented for a 2 DOF mechanism.

Original languageEnglish
Title of host publicationBath Workshop on Power Transmission and Motion Control, PTMC 2004
EditorsC.R. Burrows, K.A. Edge, D.N. Johnston
Pages223-240
Number of pages18
Publication statusPublished - 1 Dec 2004
EventBath Workshop on Power Transmission and Motion Control, PTMC 2004 - Bath, UK United Kingdom
Duration: 1 Sep 20043 Sep 2004

Publication series

NameBath Workshop on Power Transmission and Motion Control, PTMC 2004

Conference

ConferenceBath Workshop on Power Transmission and Motion Control, PTMC 2004
CountryUK United Kingdom
CityBath
Period1/09/043/09/04

ASJC Scopus subject areas

  • Engineering(all)

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