A six degree-of-freedom, hydraulic, one person motion simulator

Salcudean, Septimiu E.; Drexel, P. A.; Ben-Dov, D.; Taylor, Andrew J.; Lawrence, P.D.

doi:10.1109/robot.1994.351146

Cited by 46 publications

(25 citation statements)

References 7 publications

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“…It is assumed that the platform is tangent to the wave surface. The formulation of inverse kinematic of the Stewart platform can be found in some research by (Merlet 2004), (Liu, Fitzgerald et al 1993), (Perng and Hsiao 1999) and (Salcudean, Drexel et al 1994). To find the inverse kinematics of the mobile plate based on the geometry platform in Figure 5, the coordinates XYZ of points A 1 , A 2 , A 3 , A 4 , A 5 , A 6 must be known, as shown in Figure 5.…”

Section: Inverse Kinematics Of the Stewart Platformmentioning

confidence: 99%

A NovelWave Energy Converter Using the Stewart Platform

Lotfi

Huang

2014

JGE

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Ocean wave is one of the biggest sources of renewable energy that is economically attractive. However, technology of harvesting wave power is relatively undeveloped compared to other renewable energy technologies. Finding optimal structures of wave energy converter (WEC) is still an open research problem. The idea of using Stewart platform as a WEC is for the first time proposed in this paper. Its key module is a Stewart platform, which is a parallel mechanism with six degrees of freedom, used to convert the motion induced by waves to the prismatic motions of multiple hydraulic/ pneumatic cylinders. The proposed new type WEC can be used in the offshore wave power generation systems and put in any place where there exist roaring waves. The mathematical model has been set up and the numerical simulation has been performed to verify the effectiveness of the proposed converter. The simulation results show that more energy can be generated by this new type of converter than other existing WECs.

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Section: Inverse Kinematics Of the Stewart Platformmentioning

confidence: 99%

A NovelWave Energy Converter Using the Stewart Platform

Lotfi

Huang

2014

JGE

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“…The first one is based on the legs lengths tracking control and is called joint space control (Salcudean et al, 1994;Graf et al, 1998). On the contrary, the second one is based on the position and orientation tracking control and is called cartesian space control (Becerra-Vargas et al, 2009;Koekebakker, 2001).…”

Section: Motion Base Controller Designmentioning

confidence: 99%

“…Each leg is composed of a prismatic joint (i.e an electromechanical or electrohydraulic actuator), one passive universal joint and one passive spherical joint making connection with the base and the moving platform, respectively, as shown in Fig Most motion control schemes concerning flight simulator motion bases are focused on the washout-filter (Nahon and Reid, 1990), forward and inverse kinematics; and an independent joint linear controller is implemented for each actuator (Salcudean et al, 1994;Graf et al, 1998). On the other hand, the effects of the motion-base dynamics are ignored or a linearized model of motion-base dynamics is used (Idan and Sahar, 1996).…”

Section: Introductionmentioning

confidence: 99%

Application of H∞ theory to a 6 DOF flight simulator motion base

Becerra-Vargas¹,

Belo²

2012

J. Braz. Soc. Mech. Sci. & Eng.

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The purpose of this study is to apply inverse dynamics control for a six degree of freedom flight simulator motion system. Imperfect compensation of the inverse dynamic control is intentionally introduced in order to simplify the implementation of this approach. The control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation. The control strategy is designed using H ∞ theory. Forward and inverse kinematics and full dynamic model of a six degrees of freedom motion base driven by electromechanical actuators are briefly presented. Describing function, acceleration step response and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers.

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“…Conversely, parallel manipulators are the closed kinematic chains of active as well as passive joints, and have high rigidity and accuracy, and high load capacity. The advantage of parallel manipulators over serial manipulators mean that the parallel manipulators have been used in any filed, such as simulators (3) , robotic (4) , machine tools (5) , precise positioning systems (6) , micro/nano manipulation (7) , and biotechnology (8) . It has been proved that such a spatial close-loop manipulator has its great potential and advantage over the traditional serial manipulator.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Workspace and Singularity of a Slide Equilateral Triangle Parallel Manipulator

Chuang

Chien

2007

JSDD

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This paper presents a novel architecture of six-degree-of-freedom (6-dof) parallel manipulator. The parallel manipulator consists of a moving platform, a fixed base, and six supporting constant-length limbs. Since the structure of parallel manipulator is a double equilateral triangle, it is called a slide equilateral triangle parallel manipulator (SETPM). The inverse and forward kinematics problems are described in closed forms and the velocity equation of the new parallel manipulator is given. Three kinds of singularities are presented. In determining the workspace of the manipulator, four types of kinematic constraints have been taken into account. The parallel manipulator has compact configuration and no singularities existed in the workspace. A prototype parallel manipulator was built base on the kinematics and analysis results.

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A six degree-of-freedom, hydraulic, one person motion simulator

Cited by 46 publications

References 7 publications

A NovelWave Energy Converter Using the Stewart Platform

A NovelWave Energy Converter Using the Stewart Platform

Application of H∞ theory to a 6 DOF flight simulator motion base

Analysis of Workspace and Singularity of a Slide Equilateral Triangle Parallel Manipulator

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