Considerations upon the Influence of Manufacturing and Assembly Errors on the Kinematic and Dynamic Behavior in a Flight Simulator Stewart-Gough Platform

Pîslă, Adrian; Itul, T.; Pîslă, Doina; Szilaghyi, A.

doi:10.1007/978-94-007-2727-4_19

Cited by 3 publications

(2 citation statements)

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“…For the preparation of a six-dimensional F/T measurement, experiments without external loads were carried out first, and the measured F/Ts could be used for the calculations of C and W, using (11), after which C is substituted into (13) for the vector [S S 0 ] . Then, for an arbitrary external load, the six-dimensional F/T in o 1 -x 1 y 1 z 1 could be obtained using (10) and the gravity of the rigid system can be dynamically compensated.…”

Section: Dynamic Gravity Compensationmentioning

confidence: 99%

“…Stewart parallel robots (SPRs) are the most frequently used type of parallel robot structure. They are suitable for machining and manufacturing [7,8], surgical operations [9], flight simulators [10], flexible and precise assembly of aircraft sections [11], P&O of spacecraft on the ground [12], and low-impact alignments [13]. An SPR is composed of a moving platform and a base platform, which are connected by six extensible links with spherical/universal joints.…”

Section: Introductionmentioning

confidence: 99%

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An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components

Wen

Zhang

et al. 2018

Journal of Robotics

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A Stewart parallel robot (SPR) is a promising choice for alignment or assembly of components that are large or heavy. This paper presents a method for human-robot collaboration, for positioning and orientation of large components. Use of interactive force measurements is important for human-robot collaboration. It is based on six-dimensional force/torque (F/T) measurements. First, the six-dimensional F/T data are calculated based on the six-actuator SPR geometry and screw theory. Second, the effects of gravity forces (dynamic gravity compensation) are considered, and a method to offset their effects is explained. Third, force estimation experiments were performed using an S-type force sensor and known applied test forces. Finally, the F/T-driven feedback was tested for the alignment of a large-scale component. The experimental results show that the calculated six-dimensional F/T can accurately track the force applied to a large and/or heavy component by a human worker. It can also accurately predict the F/T required to compensate for inertial forces and components’ weight. Thus, the alignment method of human-robot collaboration based on the six-dimensional force/torque dynamic measurements for large-scale components is correct and effective.

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Section: Dynamic Gravity Compensationmentioning

confidence: 99%