Simulation Research on Hydraulic Stewart Force Feedback Master-Slave System

Jing Wei Hou; Ding Xuan Zhao; Ying Zhao; Yu Xin Cui

doi:10.4028/www.scientific.net/AMM.347-350.3954

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 347-350Simulation Research on Hydraulic Stewart Force...

Simulation Research on Hydraulic Stewart Force Feedback Master-Slave System

Abstract:

a virtual prototype program of hydraulic Stewart force feedback master-slave system is developed to solve the modeling problems when plant developing and controller design. The following work is done based on the Stewart manipulator simulation program built in Matlab/SimMechanics platform: 1. Master/slave force feedback control framework is built based on the relationship between force on cylinders and upper platform.; 2. A new Stewart platform with load force model on the upper platform hydraulic servo system is built as the slave hand. The validity of the functions is verified by simulation experiment.

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Periodical:

Applied Mechanics and Materials (Volumes 347-350)

Pages:

3954-3959

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.347-350.3954

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Online since:

August 2013

Authors:

Jing Wei Hou, Ding Xuan Zhao, Ying Zhao, Yu Xin Cui

Keywords:

Force Feedback, Hydraulic Servo-System, Master-Slave Control, Numerical Simulation, Stewart Platform

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