Mechatronic modeling of a parallel kinematics multi-axial simulation table based on decoupling the actuators and manipulator dynamics

A remarkable contribution of this work is that the mechatronic model developed considers the mechanism as a disturbance to the actuators in a decoupled manner, allowing to easily evaluate alternative designs of whether the actuators, the mechanism or both. Additionally, the procedure taken has been validated with experimental data from an actual MAST prototype.