To meet the requirements of high-precision pose adjustment, this paper designs and analyzes a heavy-duty, high-precision six-degree-of-freedom parallel platform. The platform adopts the classical Stewart configuration, driven by servo electric cylinders and connected via high-precision Hooke joints. It is equipped with a target precision positioning module. Through co-simulation using ADAMS and Python, the kinematic and dynamic characteristics as well as positioning accuracy of the system are thoroughly studied. Simulation results show that the platform is capable of ±50 mm translational and ±3° rotational motion. Under a side-mounted load of 150 kg, the maximum driving force reaches 4108.5 N, with absolute positioning accuracy achieving 4.5 μm (translation) and 0.0087 mrad (rotation).
Li et al. (Tue,) studied this question.