Analysis and Design of the Stewart Platform-Based Parallel Support Bumper for Inertially Stabilized Platforms

He, Qianen; Zeng, Congjie; Gao, Zhenzhong; Wu, Zhicong

doi:10.1109/tie.2019.2917366

Cited by 15 publications

(4 citation statements)

References 28 publications

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“…Hauenstein et al www.ijacsa.thesai.org [13] proposed a fuzzy logic-based stiffness control method to make the stiffness of the platform adjustable by adjusting the length and speed of the outriggers to adapt to different working conditions and task requirements. He et al [14] adopted the Monte Carlo method to analyze the stiffness sensitivity of the Stewart platform, and the degree and direction of the influence of the length, angle, cross-section and material of the outrigger on the platform stiffness were examined, and the sensitivity coefficient and sensitivity index of the platform stiffness were obtained.…”

Section: Literature Reviewmentioning

confidence: 99%

Computer Simulation Study of Stiffness Variation of Stewart Platform under Different Loads

Zhao,

Liu,

et al. 2024

ijacsa

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The ability of Stewart platform to resist deformation is an important target for designing and optimizing the platform, and studying the variation rule of stiffness of Stewart platform under different loads can help us to understand the dynamic characteristics of the platform, guide the design and control of the platform, and improve the performance and stability of the platform. The purpose of this paper is to change the law of stiffness variation and influence factors of Stewart platform under different loads, aiming to study the change of stiffness of Stewart platform under different loads as well as the influence factors, and the influence of stiffness change on the performance and stability of the platform. Firstly, using MATLAB software, the kinematic and mechanical model of Stewart platform was established, the analytical expression of the stiffness matrix of the platform was deduced, and the stiffness characteristics and stiffness singularity of the platform were analyzed. Then, using ADAMS software, the dynamic simulation model of the Stewart platform was established, and the stiffness of the platform was simulated and analyzed. The results show that the stiffness of the Stewart platform will appear singularity or sudden change under some special positions or loads, which should be avoided as much as possible so as not to affect the performance and stability of the platform. There is a certain correlation between the dynamic and static stiffness, but it is also affected by the nonlinearity of the structure, damping, coupling and other factors.

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Section: Literature Reviewmentioning

confidence: 99%

Computer Simulation Study of Stiffness Variation of Stewart Platform under Different Loads

Zhao,

Liu,

et al. 2024

ijacsa

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“…Further, even in an effectively designed gimbal system, dynamic mass imbalances always exist, degrading the control performance. Therefore, uncertain dynamics need to be considered [18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding‐mode‐assisted disturbance observer‐based decoupling control for inertially stabilized platforms with a spherical mechanism

Tian

Wang

2022

IET Control Theory & Appl

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An inertially stabilized platform (ISP) is a gimbal used to hold a camera. It is essential for isolating the attitude sway during an imaging process. To make the platform more compact, the implementation of an ISP with a spherical mechanism has been proposed. However, this design introduces complex non-linear coupling characteristics, significantly increasing the complexity of control. This study aims to solve this problem and present an algorithm to achieve high-performance inertial stabilization control. To achieve this, kinematic and dynamic models were established, and the proposed control algorithm was then designed in three parts. Gravity compensation control was set up in the internal loop to counter the influence of unbalanced gravity moment. An adaptive sliding-mode-assisted disturbance observer (ASMADO) was also included in the joint space to decouple the influence of complex non-linear characteristics on the platform. Further, a feedback controller was added to the workspace based on the kinematic model. This design simplifies the control algorithm for novel ISPs with a spherical mechanism. It effectively compensates for the complex non-linear characteristics and enables superior inertial stabilization control. Experimental results show that the proposed method effectively decreases the motion isolation error for the line-of-sight of the camera compared to traditional control methods.

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“…Inertially stabilized platforms have been extensively utilized for a wide range of moving carriers, such as satellites, aircrafts, submarines, etc [1,2,3], due to the superior isolation ability against carrier motion and vibration. The basic task of an ISP is to make the light of sight (LOS) of the optical sensor installed on a mobile vehicle precisely track a moving target or keep steady in inertial space [4,5].…”

Section: Introductionmentioning

confidence: 99%

Robust predictive visual servoing control for an inertially stabilized platform with uncertain kinematics

Mao

Yang

et al. 2021

ISA Transactions

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Analysis and Design of the Stewart Platform-Based Parallel Support Bumper for Inertially Stabilized Platforms

Cited by 15 publications

References 28 publications

Computer Simulation Study of Stiffness Variation of Stewart Platform under Different Loads

Computer Simulation Study of Stiffness Variation of Stewart Platform under Different Loads

Adaptive sliding‐mode‐assisted disturbance observer‐based decoupling control for inertially stabilized platforms with a spherical mechanism

Robust predictive visual servoing control for an inertially stabilized platform with uncertain kinematics

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