Modeling, simulation and design of adaptive 6DOF vehicle stabilizer

Abstract

Six Degree of Freedom (6 DOF) parallel manipulators have been utilized for many applications. In this paper, a 6 DOF manipulator is used as a robust vehicle stabilizer in order to fix the orientation of the upper platform. The paper starts with kinematic analysis of a Stewart platform. This analysis is formulated to cope with the design of vehicle stabilizer. The design and selection of mechanical components including primary joints based on comprehensive dynamic simulation. After validating simulation results of proposed design, they were implemented in to build a physical model. To improve system accuracy and performance, and to eliminate associated vibrations, a linear regression model of ground rise is embedded in the system to estimate and predict upcoming elevations. This has lowered the percentage error of platform orientation, made the system more stable.