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Luftmuskel Hexapod

This parallel kinematic Stewart-Gough platform uses fluidic muscles from Festo as linear drives and a central spring as opponent. These are working like human muscles and can produce a tensile force but no compressive force. In order to raise these forces, the spring is needed. An accurate model of the spring is identified for implementing an „exact feedforward linearization“. Different control strategies are researched and compared. Current research is done in the area of structural testing and motion simulation.

Technical data:

  • Mechanical construction: Parallel kinematic with six linear degrees of freedom
  • Max. payload: ~100kg
  • Control system: dSpace DS1103 / RTAI Linux on costumer hardware
  • Control performance: Current & Position control 1ms