A Passive Stewart Platform Based Joystick To Control Spatially Moving Objects

Most of the spatially moving vehicles and game controllers use 2-3 degrees of freedom joysticks to manipulate objects position. However, most of the spatially moving vehicles have more than 3 degrees of freedom, such as helicopters, quadrotors, and planes. Therefore, additional equipment like pedals or buttons is required during the manipulation. In this study, a passive Stewart platform based six degrees of freedom joystick was developed to control spatially moving objects. The Stewart platform mechanism is a six-degrees of freedom parallel mechanism, which has been used for simulators. The main challenge of using a parallel mechanism to manipulate objects is the computational burden of its forward kinematics. Therefore, an artificial neural network was used for the forward kinematic solution of the Stewart platform mechanism to obtain the fastest response. Linear potentiometers were used for the Stewart platform legs. A mathematical model of a quadrotor was used to test the capability of the joystick. The developed spatial joystick successfully manipulated the virtual quadrotor model. KeywordsSpatial joystick; Stewart platform.

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