A Tracking Simulation for a Hybrid Stewart Platform Manipulator

J.-H. Chin and X.-E. Peng (Taiwan)


Stewart Platform, Tracking, Cross-coupled, Fuzzy control, Simulation.


Stewart Platform Manipulators (SPM) are machines of high stiffness, high speed and low inertia. This paper studied a kind of tracking technology with new features for a hybrid SPM composed of a SPM and a x-y table. Adaptive-feed rate regulation and Fuzzy contour control was implemented to enhance the proven Multi-axis Cross Coupled Pre-compensation Tracking Method (MCCPM). Simulation showed that better performance in 3D curve tracking was achieved.

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