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.
|Number of pages||6|
|Journal||IEEE International Conference on Intelligent Robots and Systems|
|Publication status||Published - 2001 Jan 1|
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications