scholarly journals Towards Washout Filter Concepts for Motion Simulators on the Base of a Stewart Platform

PAMM ◽  
2011 ◽  
Vol 11 (1) ◽  
pp. 955-956 ◽  
Author(s):  
Klemens Springer ◽  
Hubert Gattringer ◽  
Hartmut Bremer
Keyword(s):  
Stewart Platform ◽  
Washout Filter

Latency on a Stewart platform using washout filter

2018 ◽  
Vol 122 (1252) ◽  
pp. 1003-1019 ◽  
Author(s):  
R.C. Lemes ◽  
M. Moreira Souza ◽  
E.M. Belo ◽  
J.H. Bidinotto
Keyword(s):  
Inverse Kinematics ◽  
Stewart Platform ◽  
External Factors ◽  
Specific Force ◽  
Signal Delay ◽  
Washout Filter ◽  
Total Latency ◽  
Angular Velocities ◽  
Movable Platform ◽  
Aircraft Motion

ABSTRACTThe aim of this work is to investigate and quantify the latency on a Stewart Platform caused exclusively by a Classic washout filter. This washout filter is intended to recreate the sensations of motion caused by changes of translational and rotational acceleration that an aircraft can provide, due to changes in attitudes caused by external factors, and those caused by the pilot’s command. The input signal was generated by a FlightGear Simulator in order to obtain the specific forces and angular velocities of a Boeing 747 during a take-off procedure. These signals are then filtered by a washout filter and sent to the inverse kinematics of the movable platform, which will transform the aircraft motion sensations in platforms actuator position, thereby causing a certain signal delay. Experiments were performed in a Stewart Platform to obtain the latency caused by the mathematical modelling of the entire washout filter system. This latency are then compared to the latency caused by the control and dynamics of the platform’s actuators. Results indicate that the washout filter is the most responsible for the latency of the specific force signals to be reproduced by the platform in this experiment, and that the natural frequency and damping coefficient values must be properly estimated in order to optimise the total latency.

IMPLEMENTATION OF A WASHOUT FILTER USED IN STEWART PLATFORM

2015 ◽  
Author(s):  
Rodrigo Cristian Lemes ◽  
Ricardo Breganon ◽  
Mateus Moreirade Souza ◽  
Fabio Toledo Bonemer De Salvi ◽  
Ricardo Afonso Angélico ◽  
...  
Keyword(s):  
Stewart Platform ◽  
Washout Filter

A Study on the Small-size Self-propelled Stewart-platform

2010 ◽  
Vol 130 (4) ◽  
pp. 660-667 ◽  
Author(s):  
Akihiro Torii ◽  
Masaaki Banno ◽  
Akiteru Ueda ◽  
Kae Doki
Keyword(s):  
Stewart Platform

scholarly journals Laser based micro texturing of freeform surfaces of implants using a Stewart platform

2021 ◽  
Author(s):  
K.E.Ch. Vidyasagar ◽  
Varun Aggarwal ◽  
Sasanka Sekhar Sinha ◽  
Subir Kumar Saha ◽  
Dinesh Kalyanasundaram
Keyword(s):  
Stewart Platform ◽  
Freeform Surfaces

Evaluation and Representation of the Theoretical Orientation Workspace of the Gough–Stewart Platform

2009 ◽  
Vol 1 (2) ◽  
Author(s):  
Qimi Jiang ◽  
Clément M. Gosselin
Keyword(s):  
Theoretical Orientation ◽  
Robotic Manipulators ◽  
Stewart Platform ◽  
Closed Region ◽  
Leg Length ◽  
Fixed Frame ◽  
Cartesian Space ◽  
Orientation Workspace

The evaluation and representation of the orientation workspace of robotic manipulators is a challenging task. This work focuses on the determination of the theoretical orientation workspace of the Gough–Stewart platform with given leg length ranges [ρimin,ρimax]. By use of the roll-pitch-yaw angles (ϕ,θ,ψ), the theoretical orientation workspace at a prescribed position P0 can be defined by up to 12 workspace surfaces. The defined orientation workspace is a closed region in the 3D orientation Cartesian space Oϕθψ. As all rotations R(x,ϕ), R(y,θ), and R(z,ψ) take place with respect to the fixed frame, any point of the defined orientation workspace provides a clear measure for the platform to, respectively, rotate in order around the (x,y,z) axes of the fixed frame. An algorithm is presented to compute the size (volume) of the theoretical orientation workspace and intersectional curves of the workspace surfaces. The defined theoretical orientation workspace can be applied to determine a singularity-free orientation workspace.

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