University of Bahrain
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Adaptive 6 DOF Self-Balancing Platform for Autonomous Vehicles

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dc.contributor.author Alkhedher, Mohammad
dc.contributor.author Younes, Tariq
dc.contributor.author Mohamad, Omar
dc.contributor.author Ali, Uzair
dc.date.accessioned 2019-12-31T10:21:28Z
dc.date.available 2019-12-31T10:21:28Z
dc.date.issued 2020-01-01
dc.identifier.uri https://journal.uob.edu.bh:443/handle/123456789/3699
dc.description.abstract Parallel manipulators with six degrees of freedom are utilized in many applications. In this paper, a Stewart manipulator is used as a robust vehicle stabilizer to control the orientation and direction of the top platform. A detailed kinematic analysis of a Stewart platform is established in order to control the extensions of linear actuators. This analysis is formulated to cope with the design of vehicle stabilizer. The design and selection of mechanical components including primary joints is accomplished based on comprehensive dynamic simulation. After validating simulation results of proposed design, they were implemented in to build a physical model. To improve system accuracy and performance, and to eliminate associated vibrations, a linear regression model of ground rise is embedded in the system to estimate and predict upcoming elevations. This has lowered the percentage error of platform orientation, made the system more stable en_US
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 International *
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/4.0/ *
dc.subject Stewart platform en_US
dc.subject Kinematics en_US
dc.subject Simulation en_US
dc.subject stabilizer en_US
dc.subject Linear regression en_US
dc.title Adaptive 6 DOF Self-Balancing Platform for Autonomous Vehicles en_US
dc.identifier.doi http://dx.doi.org/10.12785/ijcds/090107
dc.volume Volume 9 en_US
dc.issue Issue 1 en_US
dc.contributor.authorcountry UAE en_US
dc.contributor.authorcountry Jordon en_US
dc.contributor.authorcountry UAE en_US
dc.contributor.authorcountry UAE en_US
dc.contributor.authoraffiliation Mechanical Engineering Department, Abu Dhabi University, Abu Dhabi, United Arab Emirates en_US
dc.contributor.authoraffiliation Mechatronics Engineering Department, Al Balqa Applied University, Amman, Jordan en_US
dc.contributor.authoraffiliation Mechanical Engineering Department, Abu Dhabi University, Abu Dhabi, United Arab Emirates en_US
dc.contributor.authoraffiliation Mechanical Engineering Department, Abu Dhabi University, Abu Dhabi, United Arab Emirates en_US
dc.source.title International Journal of Computing and Digital Systems en_US


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