| This thesis puts emphasis on the design of a Electro-Hydraulic Stewart type platform vibration stimulation system.The purpose of this research is to utilize the Stewart platform as a multi-degree-of-freedom vibration stimulation device which under low-frequency and heavy-duty working circumstances.First, motion and dynamics equations of the platform are established; the motion and force transfer matrices are generated from those equations; the mapping relationship between the above mentioned matrices is explained.The basic dimensions of the platform are chosen; the detailed design of the servo actuator is carried out based on the mapping relationship between the working space and actuating space. The CAD model of the platform is established through the SolidWorks application.The single actuating channel model of the Stewart vibration stimulation device is established. By means of the selected parameters, the servo control strategy is chosen, and the simulation model of the servo actuator is established. Furthermore, the response properties of the servo actuator are analyzed.Finally, the entire model of the Stewart vibration stimulation device is established through Simulink tools, and two different loading simulation experiments are carried out. The reproducing accuracy of the input signal is analyzed. The experiment results show that the the Stewart platform is qualified as a vibration stimulation device. |
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