Modeliranje in razvoj hidravličnega sistema Stewartove ploščadi

Pustavrh, Jan (author), Majdič, Franc (mentor), Peperko, Aljoša (comentor)

Stewartova ploščad omogoča simulacijo v šestih prostostnih stopnjah. Sestavljata jo dva nepravilna šestkotnika, ki sta med seboj povezana s šestimi aktuatorji – hidravličnimi valji. S kontroliranim simultanim uvlačenjem ali izvlačenjem batnic iz cevi hidravličnih valjev se spreminja dolžina posamezne noge in tako dosežemo gibanje zgornje pomične ploščadi. V okviru magistrskega dela smo popisali matematično ozadje problema ter raziskali trg. Dimenzioniranje hidravličnega sistema je bila osnova za zasnovo večje hidravlične ploščadi nosilnosti 2500 kg, izbiro hidravličnih sestavin ter izdelavo hidravlične sheme. Izdelan simulacijski model je osnova za nadaljnji razvoj in izdelavo ploščadi. Na obstoječi manjši prototipni hidravlični Stewartovi ploščadi smo izvedli matematični popis šolskega kroga, izdelali program za simulacijo ter izvedli meritve hidravličnih parametrov.

• Language: Slovenian
• Keywords: Stewartova ploščad, 6-prostostnih stopenj, šolski krog, hidravlične sestavine, simulatorji, servo ventil
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [J. Pustavrh]
• Year: 2022
• Number of pages: XXVI, 95 str.
• PID: 20.500.12556/RUL-140072
• UDC: 621.22:629.7.08(043.2)
• COBISS.SI-ID: 126005763
• Publication date in RUL: 10.09.2022

Secondary language

• Language: English
• Title: Modeling and development of hydraulic Stewart platform

Abstract

The Stewart platform allows simulation in six degrees of freedom. It consists of two irregular hexagons connected by six actuators, hydraulic cylinders. The length of each leg is changed by pushing the pistons in or out of the hydraulic cylinders to achieve the movement of the upper platform. As part of the master’s thesis, we described the mathematical background and studied the market. The dimensioning of the hydraulic system was the basis for the design of a larger hydraulic platform with a load capacity of up to 2500 kg, the selection of hydraulic components and the development of hydraulic scheme. The simulation model is the basis for further development and construction of the platform. We performed a mathematical study of the traffic pattern, developed a simulation programme and made measurements of the hydraulic parameters.

• Keywords: Stewart platform, 6 degrees of freedom, traffic pattern, hydraulic components, simulators, servo valve