The current paper proposes a novel approach to motion platform design for flight simulators which employs an anthropomorphic industrial robot for motion of the cabin.Advantages and disadvantages of using a serial actuation chain in place of the well-established Stewart’s platform parallel actuation architecture are discussed, including the possibility of expanding the envelope of achievable acceleration and angular rates. The robot velocity and force manipulability analysis is performed to analyze the platform expected performance and to select a neutral position which maximizes the capability of the actuation chain to produce velocities and accelerations. Washout filter design is performed using the Reid and Nahon classic washout filter; filter tuning and the peculiar need of the proposed motion platform for a collision avoidance system are discussed. Simulation results are presented for typical maneuvers. A preliminary platform assessment is performed using an experimental setup and the aid of an Inertial Measurement Unit.
|Autori:||POLLINI L; INNOCENTI M; PETRONE A|
|Titolo:||Study of a Novel Motion Platform for Flight Simulators using an Anthropomorphic Robot|
|Anno del prodotto:||2008|
|Digital Object Identifier (DOI):||10.2514/1.28675|
|Appare nelle tipologie:||1.1 Articolo in rivista|