A parallel cable-driven motion base for virtual acceleration

Satoshi Tadokoro, Toshiyuki Matsushima, Yoshio Murao, Hideaki Kohkawa, Manfred Hiller

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


This paper presents a new motion base design for creating virtual acceleration using a parallel cable-drive mechanism architecture, WARP. It has several advantages: 1) rotational motion range is large, 2) the traveling room can be grounded on the floor, 3) scene projection is possible for all the walls, and 4) redundancy improves safety for cut of cables. Optimal mechanism design is performed for a class of WARP mechanisms to develop a prototype. A trajectory planning method for long-term virtual acceleration is proposed. Low frequency component of acceleration is realized by rotational motion, and high frequency is produced by translational motion. Experimental results creating virtual acceleration of jet coaster trajectories demonstrated effectiveness of this new design.

Original languageEnglish
Pages (from-to)1700-1705
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 2001 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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