ИМИТАЦИОННАЯ МОДЕЛЬ ЦИФРОВОЙ СИСТЕМЫ УПРАВЛЕНИЯ ГЕКСАПОДОМ С ЛИНЕЙНЫМИ ПРИВОДАМИ НА БАЗЕ ШАГОВЫХ ДВИГАТЕЛЕЙ

In this paper a simulation model dynamics with linear drives hexapod based on stepper motors presented. Also presented a description the components of the model: block hexapod mechanics, electromagnetic subsystem stepper motor, the model of elasto-plastic friction. An Implementation of complex models developed in MATLAB and Simulink environment. The result of control modes is verified by a numerical example. Conclusions preformed on the results of the simulation hexapod with linear stepper drives.