Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31100
Motion Protection System Design for a Parallel Motion Platform

Authors: Dongsu Wu, Hongbin Gu


A motion protection system is designed for a parallel motion platform with subsided cabin. Due to its complex structure, parallel mechanism is easy to encounter interference problems including link length limits, joints limits and self-collision. Thus a virtual spring algorithm in operational space is developed for the motion protection system to avoid potential damages caused by interference. Simulation results show that the proposed motion protection system can effectively eliminate interference problems and ensure safety of the whole motion platform.

Keywords: Collision Avoidance, Stewart platform, Motion protection, motion platform, parallelmechanism

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1205


[1] B. C. Judith, N. S. Nancy and L. Thomas, "Simulator platform motion - the need revisited," The International Journal of Aviation Psychology, vol. 8, no. 3, pp. 293-317, 1998.
[2] C. H. Francois and M. Eric, "A new redundancy-based iterative scheme for avoiding joint limits application to visual servoing," Proceedings of IEEE International Conference on Robotics & Automation, pp.1720-1725, 2000.
[3] F. C. Tan and V. Rajiv, "A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators," IEEE Transaction on Robotics & Automation, vol. 11, no. 2, pp.286-292, 1999.
[4] K. Tchnon and A. Matszok, "On avoiding singularity in redundant robot kinematics," Robotica, vol. 13, pp.599-606, 1995.
[5] L. D. Reid and M. A. Nahon, "Flight simulator motion-based drive algorithm: part 2 - selecting the system parameters", UTIAS Report No.307, 1986.
[6] R. E. McFarland, "Adjusting limiting algorithms for robust motion simulation," AIAA Modeling and Simulation Technologies Conference, 2001.
[7] R. J. Telban, F. M. Cardullo and L. C. Kelly, "Motion cueing algorithm development: new motion cueing program implementation and tuning", NASA CR-2005-213746, 2005.
[8] A. Rubio, A. Avello and J. Florez, "On the use of virtual springs to avoid singularities and workspace boundaries in force-feedback teleoperation", Proceedings of the 2000 IEEE International Conference on Robotics & Automation, pp.2690-2695, 2000.
[9] B. Zhou, Study on the Disgn and Interference-Safeguard Problem of the Stewart Platform Parallel Manipulator, Xi-an Jiaotong University, China,,PHD Thesis, 2002.
[10] H. Fang, The Research on Safety Mechanism Design and Control Methods of 6-Dof Parallel Manipulators, Xi-an Jiaotong University, China, PHD Thesis, 2002.
[11] I. Chunkpaiwong and W. S. Newman, "Reflexsive collision avoidance for a novel parallel manipulator" Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1293-1298, 2001.
[12] J. P. Merlet and D. Daney, "Legs interference checking of parallel robots over a given workspace or trajectory" Proceedings of 2006 IEEE International Conference on Robotics and Automation, pp.757-762, 2006.
[13] B. Dasgupta, T. S. Mruthyunjaya, "Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach," Mechanism and Machine Theory, vol. 33, no. 7, pp. 993-1012, 1998.