Design of a six-DOF motion tracking system based on a Stewart platform and ball-and-socket joints

Abstract

This paper presents a six degree-of-freedom (DOF) real-time motion tracking system of measuring the position and the orientation for industrial robots in three-dimensional (3D) space. The proposed system is based on a typical Stewart platform design and utilizes six low-cost displacement sensors to monitor the motion of the Stewart platform. The advantage of the proposed system is its simple calibration and easy accessibility; the magnetic ball-and-socket joints used for rotational joints. With special measurement tools, the center of rotation of all twelve joints can be measured in 3D space at a glance. Following more than fifty measurements, the average root mean square (RMS) position accuracy error of the proposed device is less than 0.186 mm and the average of angular accuracy error is less than 0.160 °, making it suitable for monitoring the performance of industrial robot. A commercial robot is also tested by the proposed system to verify its usefulness.

Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms

“…The 6-DOF pose metrology system used for this test is based on a Stewart hexapod platform [25], [26], and it can measure the 6-DOF pose of its top platform by monitoring the length change of its six struts. The proposed motion gauge system was mounted on the top platform of the Stewart hexapod platform, as shown in Fig.…”

Rehabilitasyon Hizmetlerinde Yapay Zekâ Uygulamaları

“…Günümüzde yapılan son araştırmalar, hareketli bir taban platform üzerinde akıllı robot uygulamaları kullanarak (Şekil 3) daha sık antrenman yapımına imkân sağlayan robotik platformların ortaya çıkmasını sağlamıştır. Bu kapsamda üretilen Stewart Platformu; ayak bileği, diz ve eklemleri hareketlendirmek sağlığına kavuşturmak veya rehabilite etmek amacıyla kullanılmaktadır (Budaklı & Yılmaz, 2021;Joe et al, 2021;Kim et al, 2019;X. Liu & Wiersma, 2019;Yang et al, 2015).…”

Research on Decoupling Simulation of Electric Platform System Based on ADAMS

“…The six-degree-of-freedom motion platform system is mainly composed of a control cabinet part and a motion platform part [1]. The control cabinet is composed of a computer control system, a servo drive system, and Ether CAT Ethernet.…”