Six degrees of freedom robotic testbed for control systems laboratory

Arshad, Muhammad; Gulzar, Muhammad Majid; Qureshi, Jawad Khalid; Hayat, Aamir; Shamir, Mohammad; Ahmed, Fawad; Rasheed, Sadia

doi:10.1109/raee.2017.8246147

Cited by 5 publications

(2 citation statements)

References 9 publications

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“…[16] describes a parallel mechanism testbed used for helping biopsy procedure during magnetic resonance imaging. Reference [17] uses a parallel mechanism testbed for teaching methods in school laboratories to help students in learning control systems in robotics. In ref.…”

Section: Introductionmentioning

confidence: 99%

Design and simulation of a PK testbed for head impact evaluation

2021

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This paper presents the design and simulation of a Parallel Kinematic (PK) testbed for head impacts. The proposed design is presented as a novel head impact testbed using a parallel platform as main motion simulation mechanism. The testbed is used to give a motion to a head mannequin to impact against a steel plate. In addition, the platform in the testbed allows to modify the orientation of the head mannequin model to evaluate different types of impacts. The testbed has been modeled with software MS ADAMS® to evaluate its performance with a dynamic simulation and to characterize the testbed design during top and lateral impact events. Results show that PK testbed gives a significant force and acceleration to the head mannequin at the moment of the impact.

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Section: Introductionmentioning

confidence: 99%

Design and simulation of a PK testbed for head impact evaluation

2021

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“…Due to the large rigidity of the Stewart platform and the ability to realize multiple-degree-of-freedom movement, it plays an important role as a motion simulator in the automotive, marine and aviation fields [1]. Accurate motion measurement of the Stewart platform is the key to ensuring the reliability of the platform's control strategy and motion performance, which * Authors to whom any correspondence should be addressed.…”

Section: Introductionmentioning

confidence: 99%

Space-to-plane decoupling method for six-degree-of-freedom motion measurements

Zhang¹,

Cai²,

Liu³

et al. 2021

Meas. Sci. Technol.

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The advantages of the Stewart platform in bearing capacity, dynamic response, structural rigidity, and stability make it widely used in many fields, such as motion simulators, parallel machine tools, assembly docking. In order to ensure that the spatial positioning accuracy of the Stewart platform to meet the application requirements in various fields, it is necessary to measure its pose in real time. However, the six degrees of freedom are highly coupled, it is difficult to obtain reliable six-degree-of-freedom information through mathematical decoupling. In this study, a machine vision measurement method based on physical decoupling is proposed. The spatial motion measurement of the Stewart platform is mapped to the plane motion measurement by three feature points through the laser pointer and the rear-projection screen. It realizes the dimension reduction equivalently, and simplifies the mathematical model. A lot of experimental analyses show that the proposed method can reliably achieve high-precision real-time measurement of six-degree-of-freedom, which has the accuracy of 0.21 mm (displacement) and 0.045° (rotation) at frequency between 0.1 and 1 Hz. In addition, the space-to-plane decoupling method provides a new way to implement the traceability of the six-degree-of-freedom spatial motion measurement.

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