한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제29권4호
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  • Pages.441-448
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  • 2012
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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6-자유도 Eclipse-II 모션 시뮬레이터의 최적 원점 복귀 알고리즘

Optimal Home Positioning Algorithm for a 6-DOF Eclipse-II Motion Simulator

  • Shin, Hyun-Pyo (Precision System Group, Samsung Electro-Mechanics) ;
  • Kim, Jong-Won (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
  • 투고 : 2011.10.14
  • 심사 : 2011.12.20
  • 발행 : 2012.04.01
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초록

This paper describes the optimal home positioning algorithm of Eclipse-II, a new conceptual parallel mechanism for motion simulator. Eclipse-II is capable of translation and 360 degrees continuous rotation in all directions. In unexpected situations such as emergency stop, riders have to be resituated as soon as possible through a shortest translational and rotational path because the return paths are not unique in view of inverse kinematic solution. Eclipse-II is man riding. Therefore, the home positioning is directly related to the safety of riders. To ensure a least elapsed time, ZYX Euler angle inverse kinematics is applied to find an optimal home orientation. In addition, the subsequent decrease of maximum acceleration and jerk values is achieved by combining the optimal return path function with cubic spline, which consequently reduces delivery force and vibration to riders.

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참고문헌

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