DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS

Abstract

For today’s automated vehicles and robots’ technologies in driving dynamics, the elasticity in movements has a critical role. These movements can be simulated by using some platforms which are staying on balance. It is possible to perform a few linear and angular movements according to the platform model. The purpose of this study is to provide an independent drive and keep the carrier shaft on balance while the vehicle is on the move. The steering system on the vehicle has been specialized and a balancing platform on the vehicle has been achieved to keep the balance. The vehicle in this study has four wheels and they; all have been independently designed and controlled for the requested rotation. Ackermann Steering Geometry has been used for calculations of wheel angles. In this study, the Stewart platform which has a 3x3 connection model and parallel structure has been designed. It is possible to make different linear and angular moves with this model of the platform. The steering system and platform designs have been mounted as one unit of the structure by assembling. The system can be operated manually and automatically. A mobile application has been also developed to monitor the status of the system. After all, using MATLAB simulation, its made phase space limit control of the orientations of the platform's center point relative to the x, y, and z axes has been studied.

Keywords

• Stewart Platform
• Independent Four-Wheel Steering System
• Control Theory

References

1. Cagdas, B.,” Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom Parallel Structure Manipulator”, Master dissertation, 2003.Retrieved from:https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp.
2. Shao, Z.-F., Tang, X., Wang, L., “Dynamics Verification Experiment of the Stewart Parallel Manipulator”, International Journal of Advanced Robotic Systems, 12, , 1-10,2015.
3. Merlet, J.P., Parallel Robots, Springer , Netherland, 2006.
4. Kurtoğlu, A., Robot Tekniği, Papatya,Istanbul ,2011.
5. Gosselin, C. and Angeles, J. “Singularity analysis of closed-loop kinematic chains”, IEEE Transactions on Robotics and Automation, 6(3) , 281-290, 1990.
6. Ulas, B., “Design of the Stewart Platform”, Master dissertation, 2009. Retrieved from: https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp.
7. Dasgupta, B., Mruthyunjava, T.S., “The Stewart Platform manipulator: a review”, Mechanism and Machine Theory, 35(1), 15-40,2000.
8. Gokcen, H.M., “Control of a Stewart mechanism using direct kinematic solution”, Master dissertation, 1992. Retrieved from: https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp.

9. Lopes, A.M. and Almeida, F., Dynamic Model of a 6-dof Parallel Manipulator Using the Generalized Momentum Approach, Parallel Manipulators, towards New Applications, intechOpen, 2008.
10. David, M.B. and Clifford, E.B. , “A steering linkage for short wheelbase vehicles: Design and evaluation in a wheelchair power base - A technical note”, Journal of rehabilitation research and development, 36(1) , 42-47,1999.
11. Burha, M., “Kinematic design of a multi-axle steering for a three-axle special purpose vehicle”, Master dissertation, 2010.Retrieved from: https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp
12. Jazar, R.N., Vehicle Dynamics: Theory and Applications, Sprinher, Boston, 2008.
13. Pflug, H., von Glasner, E., and Povel, R., "Commercial Vehicles with Intelligent Rear Axle Steering Systems," SAE Technical Paper 962185, 1996.
14. Pillar, D. and Braun, E., "All-Wheel Steering System for Heavy Truck Applications," SAE Technical Paper 952680, 1995
15. Stewart D., “A Platform with Six Degrees of Freedom”. Proceedings of the Institution of Mechanical Engineers. Vol.180, No.1, 371-386, 1965.
16. Anlı, E., “Positional Kinematics Analysis of the 6-3 Stewart Platform Mechanism Using Heuristic Algorithms”, Master dissertation, 2005.Retrieved from: https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp.
17. Ozer, M., “Implementation of Hybrid Vehicle Prototype with Upper Plate Balancer Stewart Platform and Angular Controlled Wheels”, Master dissertation, 2019.Retrieved from: https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp.
18. Ozturk, V. “Applying the platform with 6 dof level by designing it on to a linear motor system and enhance its software, Master dissertation, 2019. Retrieved from: https://tez.yok.gov.tr/UlusalTezMerkezi/tezSorguSonucYeni.jsp