A study of Stewart platform specifications for motion cueing systems

Author

Tu, Kuo-Yang ; Wu, Tung-Chung ; Lee, Tsu-Tian

Author_Institution

Graduate Inst. of Syst. & Control Eng., Nat. Kaohsiung First Univ. of Sci. & Technol., Taiwan

Volume

4

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

3950

Abstract

Stewart platforms are always designed to produce force for simulating the behavior of a plant such as aircraft, vehicle, etc. The planning of trajectories that consider position, velocity and acceleration is required for a Stewart platform resulting in suitable force. In this paper, Stewart platform specifications are studied to figure out its maximum acceleration that is the most important characteristic of a simulator for motion cueing systems. In addition, based on this quantity, the actuators´ power of the Stewart platform is derived to provide a practical idea for constructing a Stewart platform simulator. A procedure is proposed to solve specifications of a Stewart platform used as a simulator. A driving simulator to demonstrate the procedure is also included.

Keywords

manipulator kinematics; path planning; Stewart platform specifications; driving simulator; maximum acceleration; motion cueing systems; trajectory planning; Acceleration; Actuators; Aircraft; Control engineering; Filters; Kinematics; Manipulators; Trajectory; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1400962

Filename

1400962