Optimization Design Of Stewart Platform With 360 Degrees Rotation

6-DOF Stewart platform is a six degrees of freedom of parallel institutions. Because it is simple in structure, high inflexibility, strong bearing capacity, high accuracy and dynamic response soon, high strength-to-weight ratios and ect. , it has been widely used in various fields. Motion simulator is one of the major applications.The 6-DOF Stewart platform with 360 degrees rotation,which was used to provide submarine simulator with six degrees of freedom movement, such as rolling,pitching and yawing, This paper mainly reseached to add a gyration equipment on a stewart platform to achieve a 360-degree rotation function. There are two methods to achieve the 360-degree rotating function. The turntable installed on the top of the 6-DOF Stewart platform is one scheme and the 6-DOF Stewart platform installed on the turntable is another. The first scheme was confirmed based on two schemes compared in the economics, security and the realization. As the platform owns a redundant degree of freedom on the direction of rotation around the Z-axis, the control command of the movement was analysed and two pass filters were designed. The high-frequency signal was passed through the high-pass filter to control the rotation of the top platform and the low-frequency signal was passed through the low-pass filter to control the rotation of the turntable. Optimizing the structure of the turntable was another issue in this thesis. With the help of Anays software the lightest weight structure of the turntable was obtained to meet the requirements of the intensity and the flexibility of the turntable. Finally, the key parts, such as the slewing bearings, the harmonic reducer and the servo motor of the gyration platform, were selected.