A parallel cable-driven motion base for virtual acceleration

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

研究成果: Article査読

20 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1700-1705
ページ数6
ジャーナルIEEE International Conference on Intelligent Robots and Systems
3
DOI
出版ステータスPublished - 2001 1月 1
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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