Stewart Platform Motion Control Automation with Industrial Resources to Perform Cycloidal and Oceanic Wave Trajectories

Muñiz, Diego; Campos, Julio Garrido; Riveiro, Enrique

doi:10.3390/machines10080711

Cited by 14 publications

(8 citation statements)

References 99 publications

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“…The cabinet contains ADAM modules (11), AD modules (10), STM32 controllers (9) and servo amplifiers (8). Among the above components, STM32 controllers are the cores that ensure stable operation of the loading device, embedded in a special metal box for protection.…”

Section: Hardware Composition Of the Systemmentioning

confidence: 99%

“…the position of negative reflector [3]; Xu successfully carried out the optical alignment of optoelectronic devices with large stroke parallel platform [4]; Galván-Pozos established the motion equation and used Stewart Gough platform to track the sea free surface elevation [5]. The parallel mechanism is also used in indoor simulation experiment, six-dimensional force sensor, medical machine, and many other applications [6][7][8][9].…”

Section: Introducementioning

confidence: 99%

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A novel 6-dimensional force measurement based on the electric 6-DOF loading device

Sang,

Liao,

Chen

et al. 2024

Meas. Sci. Technol.

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The 6-degrees-of-freedom (6-DOF) platform has gained popularity in industry owing to its advantages, especially in indoor simulation experiment requiring 6-dimensional force environments. However, up to date, the measurement of such 6-dimensional forces is challenging due to complex structures, difficult decoupling, and high costs. In this study, an electric 6-DOF loading device designed by ourselves is presented, with an ability to load high precision displacement and force. To measure the 6-dimensional force of the device’s moving platform, this paper proposes a scheme involving embedding tension-compression sensors in each leg of the device and describes the mechanical model of the device. Then a novel method with a variable transformation matrix is proposed, complemented by a decoupling study that optimizes the variable transformation matrix. Finally, we validate the proposed method through an external force loading experiment. The results indicate that the error in Fy experiment is less than 2.7%, and the error in Fz experiment is less than 1.6%. The novel method exhibits high accuracy, easy installation, fast response, and low cost.

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Section: Hardware Composition Of the Systemmentioning

confidence: 99%

Section: Introducementioning

confidence: 99%

A novel 6-dimensional force measurement based on the electric 6-DOF loading device

Sang,

Liao,

Chen

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…When the determinant of the Jacobi matrix is zero, it means that the platform is in singular bit shape, at this time, the stiffness of the platform will have a sudden change or tend to infinity, which leads to the decline of the platform's kinematic performance and control performance. The structural singularity is caused by the structural parameters of the platform, such as the length of the outrigger, the position of the hinge point and so on [33,34]. When the length of the outrigger is zero or infinity, the stiffness of the platform may tend to infinity or zero, resulting in the platform losing a certain degree of freedom or the appearance of redundant degrees of freedom, thus affecting its normal operation.…”

Section:  mentioning

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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“…Paper [10] reports a study of motion control automation of Stewart platforms. First, the design, kinematic modeling, and trajectory generation of the Stewart platform robot are analyzed, and direct kinematics and motion automation are considered.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Optimizing the utilization of structural resources of flight simulator motion systems

Kabanyachyi

Hrytsan

2023

EEJET

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The object of the study is a six degrees-of-freedom motion system of the synergistic type of a flight simulator. The latter is the main technical means for training pilots and means of research and development of aircraft. The task of optimal utilization of its structural resources was solved, which provides an opportunity to improve the quality of motion cueing. The result is the developed method, which ensures optimal use of structural resources of motion systems of flight simulators. This is explained, first of all, by the use of the developed simplified operator for converting the movements of jacks into the movement of a motion system along individual degrees of freedom on the basis of quadratic approximation. Given this, it became possible to describe the coordinates of the centers of the axes of rotation of the motion system by cubic spline functions. Secondly, the solution of the task of estimating the structural resources of the motion system along linear degrees of freedom on the basis of the developed criterion was carried out by an effective modified method of the deformed polyhedron. This method combines the random search method in the first steps of the search and the gradient method in determining the global extremum. Thirdly, the problem of determining the dependence of the coordinates of the pitch and yaw axes along the pitch angle was stated and solved. Owing to the optimal utilization of the structural resources of motion systems, the coordinates of the axis of their rotation along pitch are as close as possible to the coordinate of the axis of the aircraft. Thus, the quality of motion cueing on the flight simulator is significantly increased and it is possible to use motion systems with shorter lengths of jacks, and therefore, to reduce the cost of their manufacture and operation

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Stewart Platform Motion Control Automation with Industrial Resources to Perform Cycloidal and Oceanic Wave Trajectories

Cited by 14 publications

References 99 publications

A novel 6-dimensional force measurement based on the electric 6-DOF loading device

A novel 6-dimensional force measurement based on the electric 6-DOF loading device

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

Optimizing the utilization of structural resources of flight simulator motion systems

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