Validation through a digital twin of a Stewart platform with irregular geometry with 6 DOF for simulation of a transport vehicle

摘要

This article presents the contribution provided by a digital twin to validate a mathematical model on the positioning of the vehicle driving simulator, in this case military, using guidelines for the inverse kinematics analysis in parallel robots and the design of Stewart-Gough-type platforms.. The aforementioned 6 degrees of freedom (DOF) platform with a fixed base and a movable platform of irregular geometry are analyzed using the steps presented, based on geometric analysis to determine the spatial distribution that actuators must have to achieve mobility in 6 DOF of the mobile platform, obtaining great advantages to recreate all the physical illusions that drivers must experience, achieving benefits in applications such as simulation training.