TY - JOUR
T1 - A motion base with 6-DOF by parallel cable drive architecture
AU - Tadokoro, Satoshi
AU - Murao, Yoshio
AU - Hiller, Manfred
AU - Murata, Rie
AU - Kohkawa, Hideaki
AU - Matsushima, Toshiyuki
N1 - Funding Information:
Manuscript received October 2, 2001; revised January 25, 2002. Recommended by Guest Editor B. Siciliano. The work of S. Tadokoro was supported by the Alexander von Humboldt Foundation. This research was performed in part during the principal author’s stay at Gerhard-Mercator-Universität Duisburg. S. Tadokoro, R. Murata, and T. Matsushima are with the Department of Computer and Systems Engineering, Kobe University, Kobe 657-8501, Japan (e-mail: tadokoro@cs.kobe-u.ac.jp). Y. Murao and H. Kohkawa are with Taiyo Ltd., Osaka 565–0871, Japan. M. Hiller is with Fachgebiet Mechatronik, Gerhard-Mercator-Universität Duisburg, D-47049 Duisburg, Germany. Publisher Item Identifier S 1083-4435(02)05519-9.
PY - 2002/6
Y1 - 2002/6
N2 - This paper proposes a new type of motion base for virtual sensation of acceleration by applying a parallel cable drive architecture. It has outstanding advantages in comparison with conventional Stewart platforms. Especially, 1) rotational motion range is large; 2) the motion platform can be grounded on the floor; 3) scene projection to all the walls is possible; and 4) its redundancy of cables improves safety for cut of cables. Optimal fundamental mechanical design is performed from the viewpoint of kinematics. Simulation results show that a 3-3-2 cable configuration is one of the best designs as a motion base. The prototype developed has the maximum motion range of translation ±0.45 m ±0.4 m × 1.1 m and that of rotation ±45° in roll angle, ±45° in pitch, and ±35° in yaw. It can produce acceleration 1 G for 0.8 s at its maximum, even if gravity is not used. A trajectory planning method for longer-term sensation utilizing gravity is proposed. Low-frequency component of acceleration is realized by rotational motion and high frequency is produced by translational motion. Experimental results to create virtual acceleration of a roller coaster demonstrated effectiveness of this new design.
AB - This paper proposes a new type of motion base for virtual sensation of acceleration by applying a parallel cable drive architecture. It has outstanding advantages in comparison with conventional Stewart platforms. Especially, 1) rotational motion range is large; 2) the motion platform can be grounded on the floor; 3) scene projection to all the walls is possible; and 4) its redundancy of cables improves safety for cut of cables. Optimal fundamental mechanical design is performed from the viewpoint of kinematics. Simulation results show that a 3-3-2 cable configuration is one of the best designs as a motion base. The prototype developed has the maximum motion range of translation ±0.45 m ±0.4 m × 1.1 m and that of rotation ±45° in roll angle, ±45° in pitch, and ±35° in yaw. It can produce acceleration 1 G for 0.8 s at its maximum, even if gravity is not used. A trajectory planning method for longer-term sensation utilizing gravity is proposed. Low-frequency component of acceleration is realized by rotational motion and high frequency is produced by translational motion. Experimental results to create virtual acceleration of a roller coaster demonstrated effectiveness of this new design.
UR - http://www.scopus.com/inward/record.url?scp=0036613710&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036613710&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2002.1011248
DO - 10.1109/TMECH.2002.1011248
M3 - Article
AN - SCOPUS:0036613710
SN - 1083-4435
VL - 7
SP - 115
EP - 123
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 2
ER -