6533b7d8fe1ef96bd126a2c7
RESEARCH PRODUCT
Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators
Sergio CasasInmaculada ComaCristina PortalésMarcos Fernándezsubject
020301 aerospace & aeronautics0209 industrial biotechnologyMotion simulationComputer scienceMechanical EngineeringParallel manipulatorComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONControl engineering02 engineering and technologyCinemàticaMotion controlIndustrial and Manufacturing Engineeringlaw.inventionMecànicaComputer Science::Robotics020901 industrial engineering & automation0203 mechanical engineeringlawParallel motionRobotsSimulationComputingMethodologies_COMPUTERGRAPHICSdescription
Motion generation systems are becoming increasingly important in certain Virtual Reality (VR) applications, such as vehicle simulators. This paper deals with the analysis of the Inverse Kinematics (IK) and the reachable workspace of a three-degrees-of-freedom (3-DOF) parallel manipulator, proposing different transformations and optimizations in order to simplify its use with Motion Cueing Algorithms (MCA) for self-motion generation in VR simulators. The proposed analysis and improvements are performed on a 3-DOF heave-pitch-roll manipulator with rotational motors, commonly used for low-cost motion-based commercial simulators. The analysis has been empirically validated against a real 3-DOF parallel manipulator in our labs using an optical tracking system. The described approach can be applied to any kind of 3-DOF parallel manipulator, or even to 6-DOF parallel manipulators. Moreover, the analysis includes objective measures (safe zones) on the workspace volume that can provide a simple but efficient way of comparing the kinematic capabilities of different kinds of motion platforms for this particular application.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2017-01-01 |