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Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators

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Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators

dc.contributor.author	Casas Yrurzum, Sergio
dc.contributor.author	Coma Tatay, Inmaculada
dc.contributor.author	Portalés, Cristina
dc.contributor.author	Fernández Marín, Marcos
dc.date.accessioned	2018-02-23T15:31:01Z
dc.date.available	2018-02-23T15:31:01Z
dc.date.issued	2017
dc.identifier.citation	Casas Yrurzum, Sergio Coma Tatay, Inmaculada Portalés, Cristina Fernández Marín, Marcos 2017 Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators Journal Of Advanced Mechanical Design Systems And Manufacturing 11 2
dc.identifier.uri	http://hdl.handle.net/10550/64895
dc.description.abstract	Motion generation systems are becoming increasingly important in certain Virtual Reality (VR) applications, such as vehicle simulators. This paper deals with the analysis of the Inverse Kinematics (IK) and the reachable workspace of a three-degrees-of-freedom (3-DOF) parallel manipulator, proposing different transformations and optimizations in order to simplify its use with Motion Cueing Algorithms (MCA) for self-motion generation in VR simulators. The proposed analysis and improvements are performed on a 3-DOF heave-pitch-roll manipulator with rotational motors, commonly used for low-cost motion-based commercial simulators. The analysis has been empirically validated against a real 3-DOF parallel manipulator in our labs using an optical tracking system. The described approach can be applied to any kind of 3-DOF parallel manipulator, or even to 6-DOF parallel manipulators. Moreover, the analysis includes objective measures (safe zones) on the workspace volume that can provide a simple but efficient way of comparing the kinematic capabilities of different kinds of motion platforms for this particular application.
dc.language.iso	eng
dc.relation.ispartof	Journal Of Advanced Mechanical Design Systems And Manufacturing, 2017, vol. 11, num. 2
dc.subject	Mecànica
dc.subject	Cinemàtica
dc.subject	Robots
dc.title	Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators
dc.type	journal article	es_ES
dc.date.updated	2018-02-23T15:31:02Z
dc.identifier.doi	10.1299/jamdsm.2017jamdsm0023
dc.identifier.idgrec	118419
dc.rights.accessRights	open access	es_ES