Abstract
This study explores the dynamic response of a driving simulator with fluidic muscle actuators. The simulator chair utilized a Stewart platform parallel robot configuration with the movement of the muscles being controlled by PWM-operated solenoid valves. A set of microcontrollers used actuator length measurement data and pressure data to form a cascade control loop. An outer control loop supplied a force set point according to the desired joint movements and an inner control loop controlled the pressure according to the desired force. A seat and joysticks were attached to the manipulator of the Stewart platform. The desired movements of the chair were calculated based on a multiphysics simulation of a mining loader digital twin run on a separate PC. A control algorithm was developed for the muscles to move the platform to the correct position in real time.
| Original language | English |
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| Title of host publication | Proceedings of the 8th Baltic Mechatronics Symposium |
| Publisher | Aalto-yliopisto |
| Number of pages | 6 |
| ISBN (Electronic) | 978-952-64-9635-1 |
| Publication status | Published - 2023 |
| MoE publication type | A4 Conference publication |
| Event | Baltic Mechatronics Symposium - Tallinn, Estonia Duration: 3 May 2023 → 3 May 2023 Conference number: 8 |
Conference
| Conference | Baltic Mechatronics Symposium |
|---|---|
| Country/Territory | Estonia |
| City | Tallinn |
| Period | 03/05/2023 → 03/05/2023 |
Keywords
- Stewart platform
- fluidic muscle
- driving simulator
- control algorithm