Application of Modal Analysis in Vibration Reduction and Optimization of Stewart Robot Motion Control

Stewart robot falls into the category of parallel robots, consisting of two upper and lower platforms. The top platform, the moving platform and the bottom platform, are fixed, with the two arms connected by six spheres with spherical joints. In this study, we present a novel method for controlling robots and a comprehensive model for vibration detection. After developing the governing equations of the robot arms, we performed a modal analysis to control the robot position. The results of rigid and flexible arms in different parts of the robot arm using the aforementioned controller were studied. Comparing the results, it can be said that in the robot model with elastic joints, due to the increase in degrees of freedom, the level of vibrations increased, thus, controlling the robots with elastic joints is more demanding than the that in the corresponding robot with rigid joints.. Also, by applying perturbations to the system, it was found that the performance of the controller was affected by disturbances to the system and the location error was increased. Finally, it can be stated that in the control system, determining the optimal coefficients in the relationships plays a major role in the performance of the controller. Keywords