Dynamics Analysis and Simulation of a Six Degree of Freedom Wobbling Platform Using Lagrangian Method

Abstract

In this paper, we derive the dynamics of a six degree of freedom platform using Lagrangian method. Lagrangian is a powerful tool for deriving the equations of motion of the mechanical systems. We first derive the Lagrangian of the 6-DoF(Degree of Freedom) platform and then use Euler-Lagrangian equation to derive the equations of motion for the platform.The derived equations are simulated and validated using computational tools, particularly Simscape.This validation facilitates comparison of predicted and simulated behaviour of the platform.Additionally, platform’s response to various changes-such as change in mass, stiffness of the platform and others, its corresponding natural frequencies are examined.In future work, to improve the performance and operational stability,creating and implementing a control system for the 6 DoF platform will be done.This study gives understanding of dynamics of the platform and provides a groundwork for the advancement in control system design of such systems.

Keywords

• Lagrangian method
• six degree of freedom
• dynamics analysis
• simulation
• control system design