DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS

Ergun Eray AKKAYA, (Yeditepe Üniversitesi, Ticaret Fakültesi, İstanbul, Türkiye)
Muhammet ÖZER, (İstanbul Gelişim Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)
Kenan ŞENTÜRK, (İstanbul Gelişim Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)
Volkan ÖZTÜRK, (İstanbul Gelişim Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)
Ümit ALKAN (İstanbul Gelişim Üniversitesi, Bilgisayar Mühendisliği Bölümü, İstanbul, Türkiye)
Mugla Journal of Science and Technology
25 3
Yıl: 2022 Cilt: 8 Sayı: 1 Sayfa Aralığı: 19 - 25 Metin Dili: İngilizce DOI: 10.22531/muglajsci.982013 İndeks Tarihi: 29-07-2022

DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS

Öz:
For today’s automated vehicles and robots’ technologies in driving dynamics, the elasticity in movements has a critical role. These movements can be simulated by using some platforms which are staying on balance. It is possible to perform a few linear and angular movements according to the platform model. The purpose of this study is to provide an independent drive and keep the carrier shaft on balance while the vehicle is on the move.The steering system on the vehicle has been specialized and a balancing platform on the vehicle has been achieved to keep the balance. The vehicle in this study has four wheels and they; all have been independently designed and controlled for the requested rotation. Ackermann Steering Geometry has been used for calculations of wheel angles. In this study, the Stewart platform which has a 3x3 connection model and parallel structure has been designed. It is possible to make different linear and angular moves with this model of the platform. The steering system and platform designs have been mounted as one unit of the structure by assembling. The system can be operated manually and automatically. A mobile application has been also developed to monitor the status of the system. After all, using MATLAB simulation, its made phase space limit control of the orientations of the platform's center point relative to the x, y, and z axes has been studied.
Anahtar Kelime:

DÖRT BAĞIMSIZ TEKERLEKLİ MOBİL STEWART PLATFORMUNUN TASARIMI VE KONTROLÜ

Öz:
Günümüzün otomasyon ve robot teknolojilerinin sürüş dinamiğinindeki hareketlerinin esnekliği kritik role sahiptir.Bu hareketler, hareketler sırasında dengede kalan bazı platformlar kullanılarak simüle edilebilir. Bunlara ek olarak, dengeleyici platformların eğlence ve mekansal hareketler alanlarında da sıklıkla kullanıldığı görülmektedir. Platform modeline göre birkaç lineer ve açısal hareket yapmak mümkündür. Bu çalışmadaki amacımız, araç hareket halindeyken bağımsız bir tahrik sağlamak ve taşıyıcı şaftı dengede tutmaktır. Araç üzerindeki dengeyi sağlamak için direksiyon sistemi özelleştirildi ve araç üzerinde dengeleme platformu ile dengeleme başarı ile sağlandı. Bu çalışmadaki prototip araç dört tekerleğe sahiptir ve bunlar; tümü, istenen dönüş için bağımsız olarak tasarlanmış ve kontrol edilebilirdir. Tekerlek açılarının hesaplanmasında Ackermann direksiyon geometrisi kullanılmıştır. Çalışmada 3x3 bağlantı modeline ve paralel yapıya sahip olan Stewart platformu tasarlanmıştır. Platformun bu modeli ile farklı lineer ve açısal hareketler yapmak mümkündür. Direksiyon sistemi ve platform tasarımları bir araya getirilerek yapının bir birimi olarak monte edilmiştir. Sistem manuel ve otomatik olarak çalıştırılabilir. Sistemin durumunu eş zamanlı olarak izlemek için bir mobil uygulama da ilave olarak geliştirilmiştir. Son olarak, MatLab simülasyonu kullanılarak, platformun merkez noktasının x, y ve z eksenlerine göre oryantasyonlarının faz uzay limiti kontrolü yapılmıştır.
Anahtar Kelime: Stewart Platform

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA Akkaya E, ÖZER M, SENTURK K, ÖZTÜRK V, Alkan Ü (2022). DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. , 19 - 25. 10.22531/muglajsci.982013
Chicago Akkaya Ergun Eray,ÖZER Muhammet,SENTURK Kenan,ÖZTÜRK Volkan,Alkan Ümit DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. (2022): 19 - 25. 10.22531/muglajsci.982013
MLA Akkaya Ergun Eray,ÖZER Muhammet,SENTURK Kenan,ÖZTÜRK Volkan,Alkan Ümit DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. , 2022, ss.19 - 25. 10.22531/muglajsci.982013
AMA Akkaya E,ÖZER M,SENTURK K,ÖZTÜRK V,Alkan Ü DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. . 2022; 19 - 25. 10.22531/muglajsci.982013
Vancouver Akkaya E,ÖZER M,SENTURK K,ÖZTÜRK V,Alkan Ü DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. . 2022; 19 - 25. 10.22531/muglajsci.982013
IEEE Akkaya E,ÖZER M,SENTURK K,ÖZTÜRK V,Alkan Ü "DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS." , ss.19 - 25, 2022. 10.22531/muglajsci.982013
ISNAD Akkaya, Ergun Eray vd. "DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS". (2022), 19-25. https://doi.org/10.22531/muglajsci.982013
APA Akkaya E, ÖZER M, SENTURK K, ÖZTÜRK V, Alkan Ü (2022). DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. Mugla Journal of Science and Technology, 8(1), 19 - 25. 10.22531/muglajsci.982013
Chicago Akkaya Ergun Eray,ÖZER Muhammet,SENTURK Kenan,ÖZTÜRK Volkan,Alkan Ümit DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. Mugla Journal of Science and Technology 8, no.1 (2022): 19 - 25. 10.22531/muglajsci.982013
MLA Akkaya Ergun Eray,ÖZER Muhammet,SENTURK Kenan,ÖZTÜRK Volkan,Alkan Ümit DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. Mugla Journal of Science and Technology, vol.8, no.1, 2022, ss.19 - 25. 10.22531/muglajsci.982013
AMA Akkaya E,ÖZER M,SENTURK K,ÖZTÜRK V,Alkan Ü DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. Mugla Journal of Science and Technology. 2022; 8(1): 19 - 25. 10.22531/muglajsci.982013
Vancouver Akkaya E,ÖZER M,SENTURK K,ÖZTÜRK V,Alkan Ü DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS. Mugla Journal of Science and Technology. 2022; 8(1): 19 - 25. 10.22531/muglajsci.982013
IEEE Akkaya E,ÖZER M,SENTURK K,ÖZTÜRK V,Alkan Ü "DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS." Mugla Journal of Science and Technology, 8, ss.19 - 25, 2022. 10.22531/muglajsci.982013
ISNAD Akkaya, Ergun Eray vd. "DESIGN AND CONTROL OF A MOBILE STEWARD PLATFORM WITH FOUR INDEPENDENT WHEELS". Mugla Journal of Science and Technology 8/1 (2022), 19-25. https://doi.org/10.22531/muglajsci.982013
Sayfa Oluşturulma Tarihi
23-04-2024 23:49

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