Development of Multidimensional Loading Material Testing Machine

摘要

A multidimensional loading material testing machine (MLMTM) based on Stewart Platform is proposed in this paper. The kinematic and dynamic characteristics of MLMTM are analyzed, including the influence of universal joint in each limb on dynamic modeling. The dynamic model is established via Kane method, and the control system is founded based on classic PID strategy. Four experiments are performed to examine the validity of proposed dynamic model and control system of the MLMTM, including two uniaxial experiments and two biaxial experiments. Results of these experiments are summarized as well as the capacity of force tracking and load errors are analyzed. The experimental results demonstrate the validity of dynamic model via Kane method and illustrate that the proposed MLMTM is capable of performing multidimensional loading tests.