Design and implementation of 6-DOF parallel manipulator driven by permanent magnet brushless DC motors

This paper presents selected issues connected with the design and implementation of the 6-DOF parallel manipulator driven by permanent magnet brushless DC motors. The consideration of platform kinematics structure, computer design and simulation of mechanical framework as well as building and utilization of the reduced-scale physical are presented. The development, implementation and testing of the described model allowed to identify some important implementation issues related to the control of a parallel manipulator. The achieved results has made possible to modify the objectives of design and implementation for the designed target Stewart platform based on PM brushless BLDC motors.