Dynamıc Modellıng And Control Of Three-Degrees-Of-Freedom Parallel Axıs Stabılızatıon Platform

Thesis Type: Postgraduate

Institution Of The Thesis: Gazi Üniversitesi, Fen Bilimleri Enstitüsü, Turkey

Approval Date: 2019


Co-Supervisor: BÜLENT ÖZKAN



In the recent past and today, precise positioning and load carrying capacities of robotic systems have increased considerably, due to the needs. This has brought parallel manipulators against serial robotic manipulators and parallel manipulators have occupied an important place in robotic systems thanks to the many advantages they provide. Among parallel manipulators, Gough's and Stewart's six degree of freedom parallel manipulators gained enormous popularity and took place in the literature as the Stewart Platform. The use of parallel mechanisms has also increased considerably for purposes such as steering mechanisms for imaging and signal transmission/recieving systems, active vibration isolating sub-systems, and flight motion simulators. This thesis provides dynamic modeling and control of a parallel axis motion manipulator (platform) with three degrees of freedom (DOF). This three-DOF motion simulator has only three linear motion units that ensure three rotational motion of the platform. Dynamic analysis was performed using Newton-Euler equations, which were not applied in this kind of problems. Platform model was obtained via Lagrange method. PD control and computed torque control method were used as a control method. Then, the dynamic model of the proposed system is constructed in the simulation environment and the control methods are applied with the appropriate control gains. Eventually, it was shown that the system achieves the desired performance given conditions