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Journal of Mechanical Science and Technology

, Volume 32, Issue 12, pp 5553–5561 | Cite as

The canonical stewart platform as a six DOF pose sensor for automotive applications

  • Tae Kyung Jang
  • Byeong Soo Lim
  • Moon Ki KimEmail author
Article
  • 60 Downloads

Abstract

The growing demand for prolonged fatigue life of automotive parts and components requires elaboration of their motion in Cartesian space having six degrees of freedom (DOF). Recently, the canonical Steward platform, consisting of six displacement sensors mounted on two parallel platforms, was introduced to comply with this request. In order to apply this pose sensor to automotive applications, the following two important matters are investigated in this study. First, update Jacobian is proposed as a faster and more stable numerical method to solve the forward kinematic problem without any iteration process. Second, the attachment position and initial configuration of the Stewart platform must be adjustable to avoid the interference with other components due to space constraints under the hood of automotive vehicle. In this case, however, the Jacobian matrix which converts six displacement components into a six DOF pose vector is prone to be ill-conditioned so that the converting accuracy becomes worse. The L1-norm of each row in the Jacobian matrix quantifies how much the error would be provoked according to the given kinematic geometry. Hence, it can be used here as a reliable error indicator. Furthermore, several numerical examples are discussed to demonstrate what to consider when designing a six DOF pose sensor for automotive applications.

Keywords

Stewart platform Pose sensor Update Jacobian L1-norm Sensor nonlinearity and variable kinematic constructions 

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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Tae Kyung Jang
    • 1
  • Byeong Soo Lim
    • 2
  • Moon Ki Kim
    • 1
    Email author
  1. 1.School of Mechanical EngineeringSungkyunkwan UniversitySuwonKorea
  2. 2.School of Multi-disciplinary EngineeringAddis Ababa Institute of TechnologyAddis AbabaEthiopia

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