A Stewart Platform as a FBW Flight Control Unit

Vasfi Ömürlü 1  und İbrahim Yildiz 1
  • 1 Yildiz Technical University, A309 Yildiz/Besiktas, Istanbul, Turkiye, 34349

A Stewart Platform as a FBW Flight Control Unit

A variety of flight control units have been put into realization for navigational purposes of spatially moving vehicles (SMV), which is mostly manipulated by 2 or 3 degrees-of-freedom (DOF) joysticks. Since motion in space consists of three translational motions in forward, side and vertical directions and three rotational motions about these axis; with present joystick interfaces, spatial vehicles has to employ more than one navigational control unit to be able to navigate on all required directions. In this study, a 3 × 3 Stewart-Platform-based FBW (Fly-By-Wire) flight control unit with force feedback is presented which will provide single point manipulation of any SMVs along three translational and about three rotational axis. Within the frame of this paper, design, capability and the advantages of the novel system is mentioned. Kinematics of a Stewart Platform (SP) mechanism employed and its motion potentials is presented by simulations and workspace of the system is evaluated. Dynamic analysis by Bond-Graph approach will be mentioned. Mechatronic design of the complete structure is discussed and force reflection capability of the system with simulations is pointed out using stiffness control. Finally, the possible future work of the subject is discussed which may include the feasible solutions of the SP in terms of size and safety when implementing inside a cockpit.

Falls das inline PDF nicht korrekt dargestellt ist, können Sie das PDF hier herunterladen.

  • STEWART, D.: A Platform with Six Degrees of Freedom, Proc. Instn. Mech. Engrs 80 (1965), 371-386.

  • ZANG, C.—SONG, S.: Forward Kinematics of a Class of Parallel (Stewart) Platforms with Closed-Form Solutions, International Conference on Robotics and Automation, 1991.

  • ZHUANG, H.—YAN, J.—MASORY, O.: Calibration of Stewart Platforms and Other Parallel Manipulators by Minimizing Inverse Kinematic Residuals, Journal of Robotic Systems 15 (1998), 395-405.

  • HARIB, K.—SRINIVASAN, K.: Kinematic and Dynamic Analysis of Stewart Platform-Based Machine Tool Structures, Robotica 21 (2003), 541-554.

  • KIM, D.—CHUNG, W.: Analytic Singularity Equation and Analysis of Six-DOF Parallel Manipulators Using Local Structurization Method, IEEE Transactions on Robotics and Automation 15 No. 4 (Aug 1999), 612-622.

  • STOCCO, L.—SALCUDEAN, S. E.: A Coarse-Fine Approach to Force-Reflecting Hand Controller Design, IEEE International Conference on Robotics and Automation, Minnesato, April 1996.

  • JASON GENG, Z.—HAYNES, L. S.: Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms, IEEE Transactions on Control Systems Technology 2 No. 1 (March 1994), 45-53.

  • SU, Y. X.—DUAN, B. Y.—ZHENG, C. H.—ZHANG, Y. F.— CHEN, G. D.—MI, J. W.: Disturbance-Rejection High-Precision Motion Control of a Stewart Platform, IEEE Transactions on Control Systems Technology 12 No. 3 (May 2004), 364-374.

  • LEE, S.—SONG, J.—CHOI, W.—HONG, D.: Position Control of a Stewart Platform Using Inverse Dynamics Control with Approximate Dynamics, Mechatronics 13 (2003), 605-619.

  • LEE, S.—SONG, J.—CHOI, W.—HONG, D.: Controller Design for a Stewart Platform Using Small Workspace Characteristics, IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui-Hawai, USA, Oct 2001, pp. 2184-2189.

  • WENDLANDT, J. M.—SASTRY, S. S.: Design and Control of a Simplified Stewart Platform for Endoscopy, Proceedings of the 33rd conference on Decision and Control, Lake Buena Vista, FL, Dec 1994, pp. 357-362.

  • MOON, Y.—KOTA, S.: Design of Compliant Parallel Kinematic Machines, Proceedings of DETC02, Montreal, Canada, Sep 29-Oct 2, 2002, pp. 1-7.

  • DASGUPTA, B.—MRUTHYUNJAYA, T. S.: Closed-Form Dynamic Equations of the General Stewart Platform Through the Newton-Euler Approach, Mechanism and Machine Theory 33, 993-1012.

  • LEBRET, G.—LIU, K.—LEWIS, F. L.: Dynamic Analysis and Control of a Stewart Platform Manipulator, Journal of Robotic Systems 10, 629-655.

  • YILDIZ, İ.—ÖMÜRlÜ, F.L.—SAGIRLI, A.: Dynamic Modeling of a Generalized Stewart Platform by Bond Graph Method Utilizing a Novel Spatial Visualization Technique, International Review of Mechanical Engineering 2 No. 5 (2008).

  • PERNKOPF, F.—HUSTY, M.: Workspace Analysis of Stewart-Gough Manipulators Usign Orientation Plots, Proceedings of MUSME, 2002.

  • KUDOMI, S.—YAMADA, H.—MUTO, T.: Development of a Hydraulic Master-Slave System for Tele-Robotics, Proc. of 1st FPNI-PhD Symp., Hamburg, Germany, 2000, pp. 467-474.

  • WAN, Y.—WANG, S.: Kinematics Analysis and Simulation System Realization of Stewart Platform Manipulator, The Forth Internatioanal Conference on Control and Automation (ICCA03), Montreal, Kanada, 10-12 July 2003, pp. 780-784.

  • KIM, D.—CHUNG, W.: Analytic Singularity Equation and Analysis of Six-DOF Parallel Manipulators Using Local Structurization Method, IEEE Transactions on Robotics and Automation 15 (Aug 1999), 612-622.

  • TSAI, K. Y.—LEE, T. K.—HUANG, K. D.: Determining the Workspace Boundary of 6-DOF Parallel Manipulators, Robotica 24 (2006), 605-611.

  • MERLET, J. P.: Designing a Parallel Manipulator for a Specific Workspace, INRIA Sophia-Antipolis, Report No: 2527, April 1995.

  • MERLET, J. P.: Designing a Parallel Manipulator for a Specific Workspace, The International Journal of Robotics Reearch 16 (Aug 1997), 545-556.

  • ZENG, G.—HEMAMI, A.: An Overview of Robot Force Control, Robotica 15 (1997), 473-482.

OPEN ACCESS

Zeitschrift + Hefte

Suche