Your browser does not support JavaScript!

access icon openaccess Research on position inverse solution of electric-driven Stewart platform based on Simulink

The structural characteristics and modes of the Stewart platform driven by electric cylinders are briefly introduced. Based on Simulink, the modelling method of the platform is analysed. To obtain the coordinate transformation of Stewart platform, the rotation matrix and homogeneous transformation are resolved, and the mathematical model of the electric-driven Stewart platform is established related to the structural characteristics. The simulation model of input and output signals is constructed by using graphical user interface (GUI) module provided by Simulink. The motion simulation curves of six electric actuators under different position and posture are obtained, which gives benefit to understand and control the different motion states of the electric-driven Stewart platform.


    1. 1)
      • 11. Aofei, T., Shujuan, L., Yunfei, W., et al: ‘Co-simulation of six D of wire driven parallel mechanism based on Adams and Matlab’. MATEC Web of Conf., Dalian, China, 2015.
    2. 2)
      • 3. Sanyal, D., Saha, R., Saha, D., et al: ‘Analysis of 6-DOF motion with PI controller in electrohydraulic Stewart platform’. IEEE First Int. Conf. on Control, Kolkata, India, 2016, pp. 186190.
    3. 3)
      • 8. Jinyu, M.A., Deng, J., Yao, J., et al: ‘Drive optimization of parallel mechanism with electro-hydraulic drive and fully redundancy’, Mach. Tools Hydraul., 2016, 44, (11), pp. 17.
    4. 4)
      • 7. Kumar, R., Bandyopadhyay, P.B.: ‘The forward kinematic modeling of a Stewart platform using NLARX model with wavelet network’. 2013 11th IEEE Int. Conf. on Industrial Informatics (INDIN), Bochum, Germany, 2013, pp. 343348.
    5. 5)
      • 2. Gallardo-Alvarado, J., García-Murillo, M. A.: ‘A parallel manipulator inspired by the original Stewart platform’, Proc. Inst. Mech. Eng. C: J. Mech. Eng. Sci., 2013, 227, (4), pp. 831844.
    6. 6)
      • 4. Sheng, L., Jia, S., Wan-Long, L., et al: ‘Motion control of a parallel 6-D of platform’, Tech. Autom. Appl., 2006, 04, pp. 710.
    7. 7)
      • 5. Ider, S., Kemal, K.O.: ‘Trajectory tracking control of parallel robots in the presence of joint drive flexibility’, J. Sound Vib., 2009, 319, (1–2), pp. 7790.
    8. 8)
      • 1. Ibaraki, S., Yokawa, T., Kakino, Y., et al: ‘Kinematic calibration on a parallel kinematic machine tool of the Stewart platform by circular tests’. IEEE 2004 American Control Conf. (ACC 2004), Boston, USA, 2004, vol. 2, pp. 13941399.
    9. 9)
      • 6. Wei, W., Xin, Z., Li-Li, H., et al: ‘Inverse kinematics analysis of 6-DOF Stewart platform based on homogeneous coordinate transformation’, Ferroelectrics, 2018, 522, (1), pp. 108121.
    10. 10)
      • 9. Yutaka, T., Takato, N., Tomoyuki, S.: ‘Desktop type of force display using pneumatic parallel mechanism’. The Fourth Int. Symp. on Fluid Power Transmission and Control (ISFP2003), Wuhan, China, 8–10 April 2003, pp. 519520.
    11. 11)
      • 10. Cheng, C., Hongli, Z.: ‘Simulation and communication of measurement and control system for electric cylinder’, Process Autom. Instrum., 2013, 34, (07), pp. 1921.

Related content

This is a required field
Please enter a valid email address