scholarly journals Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

2021 ◽  
Vol 11 (8) ◽  
pp. 3596
Author(s):  
Cheng-Tang Pan ◽  
Pei-Yuan Sun ◽  
Hao-Jan Li ◽  
Cheng-Hsuan Hsieh ◽  
Zheng-Yu Hoe ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Spatial Information ◽  
Angular Displacement ◽  
Control Unit ◽  
Flight Simulation ◽  
Servo Motor ◽  
Linkage Mechanism ◽  
Motion Platform ◽  
Motion System ◽  
Control Automation

This paper developed a rotatable multi-axis motion platform combined with virtual reality (VR) immersion for flight simulation purposes. The system could simulate the state of the flight operation. The platform was mainly comprised of three crank linkage mechanisms to replace an expensive six degrees of freedom (DoF) Stewart platform. Then, an independent subsystem which could rotate ±180° was installed at the center of the platform. Therefore, this platform exhibited 4-DoF movement, such as heave, roll, pitch, and yaw. In the servo motor control unit, Visual Studio C# was applied as the software to establish a motion control system to interact with the motion controller and four sets of servo motors. Ethernet Control Automation Technology (EtherCAT) was utilized to communicate the commands and orders between a PC and each servo motor. The optimum controller parameters of this system were obtained using Simulink simulation and verified by experiment. The multiple sets of servo motors and crank linkage mechanisms were synchronized with flight VR imagery. For VR imagery, the software Unity was used to design the flying digital content. The controller was used to transmit the platform’s spatial information to meet the direction of the pilot commands and to compensate the direction of the deviation in spatial coordinates. To achieve synchronized response and motion with respect to the three crank linkage mechanism platform and VR imagery on the tester’s goggle view, the relation of the spatial coordinate of VR imagery and three crank linkage mechanisms was transformed to angular displacement, speed and acceleration which were used to command the motor drive system. As soon as the position of the VR imagery changed, the computer instantly synchronized the VR imagery information to the multi-axis platform and performed multi-axis dynamic motion synchronously according to its commanded information. The testers can thus immerse in the VR image environment by watching the VR content, and obtain a flying experience.

VELOCITY-LEVEL KINEMATICS OF THE ATLAS SPHERICAL ORIENTING DEVICE USING OMNI-WHEELS

2005 ◽  
Vol 29 (4) ◽  
pp. 691-700 ◽  
Author(s):  
J.D. Robinson ◽  
J.B. Holland ◽  
M.J.D. Hayes ◽  
R.G. Langlois
Keyword(s):  
Degrees Of Freedom ◽  
Angular Displacement ◽  
Design Parameters ◽  
Motion Platform ◽  
Initial Design ◽  
Simulator Motion ◽  
Omni Wheel ◽  
Velocity Level

Using a novel actuation concept employing omni-directional wheels (or simply omni-wheels), the Atlas simulator motion platform provides unlimited angular displacement about any axis. The Atlas concept completely decouples the orienting and positioning degrees-of-freedom and further decouples each of the positioning degrees-of-freedom. It consists of an omni-wheel driven sphere for orientation that has its geometric centre positioned by an $XYZ$-table. The Jacobian of the orienting device is independent of time and dependent only on the mechanism architecture, meaning that it is always invertible for any configuration provided that the initial design parameters do not result in architecture singularities. An examination of the Atlas Jacobian and its determinant identifies architecture singular design conditions. It is found that these are not design limiting. Discussion highlights the uniqueness of the Atlas concept and its associated kinematic advantages.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

scholarly journals TECHNICAL PROPERTIES AND RESEARCH CAPABILITIES OF THE TRUCK SIMULATOR OWNED BY THE MILITARY INSTITUTE OF AVIATION MEDICINE – A NEW PERSPECTIVE IN RESEARCH ON TRUCK DRIVERS

2021 ◽  
Vol 25 (3) ◽  
pp. 26-31
Author(s):  
PAULINA BARAN ◽  
◽  
MARIUSZ KREJ ◽  
MARCIN PIOTROWSKI ◽  
ŁUKASZ DZIUDA ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Truck Drivers ◽  
Aviation Medicine ◽  
Motion System ◽  
Technical Properties ◽  
Conducting Research ◽  
New Perspective ◽  
Military Institute ◽  
The Military

Abstract: This paper is aimed at presenting basic technical properties and possibilities of using the truck simulator owned by the Military Institute of Aviation Medicine (MIAM). The truck driving simulator is a stationary device, equipped with a six degrees of freedom (6 DoF|) motion system and reproducing the functionality of a truck on the basis of the Mercedes Benz Actros cabin. It is intended for conducting research as well as training truck drivers in simulated traffic conditions.

scholarly journals An exhaustive survey of regular peptide conformations using a new metric for backbone handedness (h)

PeerJ ◽  
2017 ◽  
Vol 5 ◽  
pp. e3327 ◽  
Author(s):  
Ranjan V. Mannige
Keyword(s):  
Degrees Of Freedom ◽  
Intrinsically Disordered Proteins ◽  
Angular Displacement ◽  
Disordered Proteins ◽  
Dihedral Angles ◽  
Peptide Fragments ◽  
Ramachandran Plot ◽  
Peptide Backbone ◽  
Protein Mimics ◽  
Intrinsically Disordered

The Ramachandran plot is important to structural biology as it describes a peptide backbone in the context of its dominant degrees of freedom—the backbone dihedral angles φ and ψ (Ramachandran, Ramakrishnan & Sasisekharan, 1963). Since its introduction, the Ramachandran plot has been a crucial tool to characterize protein backbone features. However, the conformation or twist of a backbone as a function of φ and ψ has not been completely described for both cis and trans backbones. Additionally, little intuitive understanding is available about a peptide’s conformation simply from knowing the φ and ψ values of a peptide (e.g., is the regular peptide defined by φ = ψ =  − 100°  left-handed or right-handed?). This report provides a new metric for backbone handedness (h) based on interpreting a peptide backbone as a helix with axial displacement d and angular displacement θ, both of which are derived from a peptide backbone’s internal coordinates, especially dihedral angles φ, ψ and ω. In particular, h equals sin(θ)d∕|d|, with range [−1, 1] and negative (or positive) values indicating left(or right)-handedness. The metric h is used to characterize the handedness of every region of the Ramachandran plot for both cis (ω = 0°) and trans (ω = 180°) backbones, which provides the first exhaustive survey of twist handedness in Ramachandran (φ, ψ) space. These maps fill in the ‘dead space’ within the Ramachandran plot, which are regions that are not commonly accessed by structured proteins, but which may be accessible to intrinsically disordered proteins, short peptide fragments, and protein mimics such as peptoids. Finally, building on the work of (Zacharias & Knapp, 2013), this report presents a new plot based on d and θ that serves as a universal and intuitive alternative to the Ramachandran plot. The universality arises from the fact that the co-inhabitants of such a plot include every possible peptide backbone including cis and trans backbones. The intuitiveness arises from the fact that d and θ provide, at a glance, numerous aspects of the backbone including compactness, handedness, and planarity.

scholarly journals Research and training car driving simulator with weight up to 3.5 tons dedicated to physical disabled drivers

Mechanik ◽  
2019 ◽  
Vol 92 (8-9) ◽  
pp. 571-573
Author(s):  
Jarosław Jankowski
Keyword(s):  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Physical Disabilities ◽  
Motion Platform ◽  
Six Degrees Of Freedom ◽  
Work Related ◽  
The Creation ◽  
People With Physical Disabilities ◽  
Car Driving ◽  
And Training

The article presents the continuation of work related to the creation of a car driving simulator with a weight of up to 3.5 tons adapted to selected disabilities. The article contains a description of the developed motion platform with six degrees of freedom and the cockpit. In order to ensure the possibility of being managed by the largest group of people with physical disabilities, selected support solutions were implemented. These devices can be easily dismantled to test others. The platform together with the cockpit is controlled from the simulator application and the image is presented to the simulation participant in 3D projection glasses and optionally on a three-segment screen.

Actuator Constrained Motion Cueing Algorithm for a Redundantly Actuated Stewart Platform

2016 ◽  
Vol 138 (6) ◽  
Author(s):  
Justin Pradipta ◽  
Oliver Sawodny
Keyword(s):  
Optimization Problem ◽  
Flight Simulation ◽  
Constrained Motion ◽  
Motion Platform ◽  
Case Scenario ◽  
Worst Case ◽  
Motion Cues ◽  
Motion Cueing ◽  
Redundantly Actuated ◽  
Relationship Of

An improved method to provide a motion trajectory for full flight simulator to simulate the acceleration during a flight simulation is presented. The motion cueing trajectory is based on a constrained optimization problem, with the generated optimal acceleration cues subjected to the actuators travel constraints of the motion platform. The motion platform researched in this contribution is a redundantly actuated parallel manipulator, therefore the available workspace is more limited and the actuator constraints become more complex. The differential kinematic analysis is utilized in the optimization problem to define the relationship of the acceleration in the platform coordinate and in the actuator coordinates. An acceleration profile is defined in function of the actuator travel to create a strict acceleration constraint in the actuator coordinate, thus a strict travel constraint. The algorithm is tested in a simulation and implemented in a full size redundantly actuated motion platform. Measurement results show that the proposed new motion cueing algorithm (MCA) is able to keep the actuators within their travel limit and at the same time provide the correct motion cues for the simulator pilots. The need to tune the MCA for the worst case scenario which is necessary to avoid damage to the platform, while at the same time can be disadvantageous for the normal case use, is relieved by the utilization of the online optimization process.

scholarly journals Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liangwen Wang ◽  
Weiwei Zhang ◽  
Caidong Wang ◽  
Fannian Meng ◽  
Wenliao Du ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Three Dimensional ◽  
Kinematic Modeling ◽  
Linkage Mechanism ◽  
Vector Method ◽  
Pressure Angle ◽  
End Point

In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory. After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.

scholarly journals Kinematics analysis of a new parallel robotics

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091995
Author(s):  
Shi Baoyu ◽  
Wu Hongtao
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Virtual Prototype ◽  
Motion Platform ◽  
Closed Form Solutions ◽  
New Type ◽  
Virtual Prototype Technology ◽  
Parallel Robotics ◽  
D Model

A new type of parallel robot ROBO_003 is presented. Its mechanisms, kinematics, and virtual prototype technology are introduced. The research of degrees of freedom (DOF) is based on screw theory, a set of screw is separated as a branch, which named as constrain screw. The type of three DOF gained by counting constrain screw, the moving platform’s frame, and base platform’s frame is set, respectively, a complete kinematic research including closed-form solutions for direct kinematic problem. The 3-D model of ROBO_003 is established using SOLIDWORKS; position and orientation of motion platform can be gained using ADMAS, which is a type of virtual prototype technology. The resultant shows that the structure of ROBO_003 is reasonable, three DOF of motion platform can be operated in a reasonable range, the solutions to the direct kinematics are right, and robot ROBO_003 can be used in many industrial fields. The research of this article provides a basis for the practical application of parallel robotics ROBO_003.

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