Abstract
Dynamic model of Stewart platform was developed using bond graph technique in the paper. Stewart platform has simple, compact structure with high stiffness, high strength-to-weight ratio that make it very desirable in manufacturing technology. Due to closed loop structure and kinematic constraints, dynamic analysis of such systems is rather complicated. The paper proposes a general, object oriented modelling formulation based on bond graph component model approach to develop dynamic model of a hexapod system. Model is developed and simulations were carried out using software package BondSim. Dynamic model is generated in form of differential-algebraic equation (DAEs) and solved by BondSim.
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