Motion Protection System Design for a Parallel Motion Platform
نویسندگان
چکیده
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— Motion protection, motion platform, parallel mechanism, Stewart platform, collision avoidance.
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