A Platform with Six Degrees of Freedom

Abstract

Access to this document was granted through an Emerald subscription provided by emerald-srm: 463575 [] For AuthorsIf you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. SUMMARYThis paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. lt is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation of control surfaces into the axes of the new attitude.Variations in control arrangements are described and their respective design merits considered.Other possible uses for this mechanism are mentioned including automation of production.

A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator

“…This manipulating structure is obtained from generalization of the mechanism originally proposed by Stewart [1] as a¯ight simulator. The general Stewart platform has a base and a platform connected by six extensible legs{ with spherical joints at both ends or spherical joint at one end and universal joint at the other.…”

Analysis and Design of Transmission and Drive System in Mini Surface Weapon Platform

“…Due to these advantages, PMs can be found in many applications, including aircraft simulators, adjustable articulated trusses, mining machines, pointing devices, and walking machines. One of the first applications of this type of mechanisms is believed to be the tire testing machine introduced by Gough and White wall [3], followed by the motion simulation platform built by Stewart [2]. Recent research works also involve design and analysis for less degree-of-freedom devices having 3, 4, and 5-DOF.…”

Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms

“…The Stewart-Gough platform is a parallel robot defined as a 6-DoF parallel mechanism with six identical extensible legs connected to a base and a moving platform through ball-and-socket joints [40,94]. It triggered the research on parallel manipulators, and it has remained one of the most widely studied because, despite its geometric simplicity, its analysis translates into challenging mathematical problems [26].…”

“…1.1). In 1965, D. Stewart suggested a 6-DoF mechanism capable of reproduce general motion in space [94], in other words, a flight simulator. Stewart's mechanism consisted of a triangular platform supported by ball joints over three legs of adjustable lengths and angular altitudes connected to the ground through two-axis joints.…”