Sensory Configuration of Stewart Platform by Presenting a High-Performance Computational Procedure

Document Type : Research Article

Authors

1 Faculty of Mechanical Engineering, Sahand University of Technology

2 Faculty of Mechanical Engineering,, Sahand University of Technology

Abstract

The Stewart platform is primarily used for generating arbitrary motions in three-dimensional space. However, it can also be utilized for measuring the three-dimensional position of an object attached to the moving platform. In this configuration, the Stewart platform functions as a sensory system. One challenge of this application is the high computational cost associated with determining the position of the moving platform relative to the fixed reference platform using data from six length sensors. In this study, the sensory capabilities of the Stewart platform are investigated by introducing a high-performance and numerically agile approach. This approach involves developing an extended set of nonlinear algebraic equations that are well-suited for real-time applications. By applying this procedure to derive the Cartesian coordinates of three points on the moving platform and comparing the results with those obtained from computer-aided design (CAD) software, a strong correlation is observed. To further evaluate the effectiveness of the approach, its performance is analyzed when subjected to harmonic time histories from six length sensors and when the legs' base positions are arranged regular or non-regular on the fixed platform. The results demonstrate that the present method, particularly by updating initial conditions at every time increment, exhibits high computational efficiency.

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Amirkabir Journal of Mechanical Engineering
Volume 56, Issue 6
September 2024
Pages 857-884

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