Title :
A six degree-of-freedom, hydraulic, one person motion simulator
Author :
Salcudean, S.E. ; Drexel, P.A. ; Ben-Dov, D. ; Taylor, A.J. ; Lawrence, P.D.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper describes the design of a one-person hydraulic motion simulator with six degrees of freedom. An inverted, ceiling-mounted Stewart platform design enables the use of narrower hydraulic cylinders than required with floor-mounted designs, and significantly reduces hydraulic flow requirements and hence the cost. The paper details the platform geometry, shows the effectiveness of Newton´s method in solving the direct kinematics, and describes a tested hydraulic system design. Issues of control and safety are also addressed. It is expected that this motion simulator will provide 9.8 m/s2, 400°/s2 accelerations and 1 m/s, 30°/s speeds to a 250 kg payload with 1 m, 45° displacements from a nominal center. Preliminary experiments at low-pressure have been encouraging
Keywords :
digital simulation; kinematics; numerical analysis; robots; 1 m/s; Newton´s method; control; direct kinematics; inverted ceiling-mounted Stewart platform; platform geometry; safety; six degree-of-freedom hydraulic one person motion simulator; tested hydraulic system; Acceleration; Actuators; Aerospace simulation; Computational modeling; Computer displays; Costs; Engine cylinders; Geometry; Jacobian matrices; Kinematics;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351146
