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Conference Paper

Towards Simulating a Mid-size Stewart Platform on a Large Hexapod Simulator

MPS-Authors

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Nieuwenhuizen, FM
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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van Paassen MM, Mulder M, Beykirsch, K
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff, HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Nieuwenhuizen, F., van Paassen MM, Mulder M, Beykirsch, K., & Bülthoff, H. (2009). Towards Simulating a Mid-size Stewart Platform on a Large Hexapod Simulator. In AIAA Modeling and Simulation Technologies Conference 2009 (pp. 613-622). Red Hook, NY, USA: Curran.

Abstract

For a recent project on the influence of motion system characteristic on human perception and control behaviour, a dynamic model of the MPI Stewart platform was developed. The model parameters were estimated from measurements involving motion along a circular trajectory and frequency sweeps. Simulation results showed that the model response with optimised parameters was very close to the measured platform response. However, additional measurements are required to identify the platform mass and vertical centre of gravity position correctly. Validation of the dynamic model with platform measurements in heave showed favourable results. The dynamic model of the MPI Stewart platform will be validated further in multiple degrees-of-freedom and will be used in active closed-loop experiments.