Active acceleration compensation using a Stewart-platform on a mobile robot

Abstract

If an object is transported on a mobile platform, all accelerations of the mobile platform affect the object. This is of course undesirable, since accelerations can move or even damage the object. Stewart-platforms are mostly used for simulation, where the platform generates accelerations that increase the simulation's quality. Vice versa, it's possible to use a Stewart-platform mounted on a mobile platform to compensate the unwanted accelerations by generating a tilt. The necessary movement of the platform is calculated by a washout-filter. Applications of this combination include the transport of liquids in open boxes and medical transports, where the patients must not be affected by any acceleration.