Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design

We proposed an optimal design method to expand the bandwidth for the control of large hydraulic Stewart platform. The method is based on generalized natural frequency and takes hydraulic oil into consideration. A Lagrangian formulation which considers the whole leg inertia is presented to obtain the accurate equivalent mass matrix. Using the model, the effect of leg inertia and the influence of design parameters on the generalized natural frequency are investigated. Finally, numerical examples are presented to validate and confirm the efficiency of the mathematical model. The results show that the leg inertia, especially the piston part plays an important role in the dynamics. The optimum diameter ratio of the base to the moving platform is between 2 and 3, and the optimum joint angle ratio of the base to the moving platform is about 1. The smaller joint angles and a longer leg stroke are favorable for raising system frequencies. The system oil should be preprocessed for large platforms with a requirement for good dynamic performance.