A six degree-of-freedom, hydraulic, one person motion simulator

TitleA six degree-of-freedom, hydraulic, one person motion simulator
Publication TypeConference Paper
Year of Publication1994
AuthorsSalcudean, S. E., P. A. Drexel, D. Ben-Dov, A. J. Taylor, and P. D. Lawrence
Conference NameRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Pagination2437 -2443 vol.3
Date Publishedmay.
Keywords1 m/s, control, digital simulation, direct kinematics, inverted ceiling-mounted Stewart platform, kinematics, Newton's method, numerical analysis, platform geometry, robots, safety, six degree-of-freedom hydraulic one person motion simulator, tested hydraulic system
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 deg;/s2 accelerations and 1 m/s, 30 deg;/s speeds to a 250 kg payload with 1 m, 45 deg; displacements from a nominal center. Preliminary experiments at low-pressure have been encouraging

URLhttp://dx.doi.org/10.1109/ROBOT.1994.351146
DOI10.1109/ROBOT.1994.351146

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