Maximum Dynamic Load Carrying Capacity of 6UPS-Stewart Platform flexible joint Manipulator

In this paper, a computational method for obtaining maximum dynamic load carrying capacity (DLCC) for the 6-UPS Stewart platform manipulator is developed. In this method, the manipulator is supposed to be a flexible manipulator and the joint actuator torque capacity and accuracy of motion are considered as the major limiting factors in determining the maximum payload. The maximum dynamic payload carrying capacity of manipulator is presented while dynamic model of a typical hydraulic actuator is used in the joint actuator force capacity for a given trajectory. Effects of flexibility of prismatic joints are considered in static situation to show considerable effects of joint's deflection on motion accuracy of 6UPS-Stewart platform. This method can be used for determining the maximum dynamic payload which acting on end-effector for mechanical design of manipulator and optimized selection of actuator, such as machine tools based on hexapod mechanism.