Realization of a Desktop Flight Simulation System for Motion-Cueing Studies

Abstract

Parallel robotic mechanisms are generally used in flight simulators with a motion-cueing algorithm to create an unlimited motion feeling of a simulated medium in a bounded workspace of the simulator. A major problem in flight simulators is that the simulation has an unbounded space and the manipulator has a limited one. Using a washout filter in the motion-cueing algorithm overcomes this. In this study, a low-cost six degrees of freedom (DoF) desktop parallel manipulator is used to test a classical motion-cueing algorithm; the algorithm's functionality is confirmed with a Simulink real-time environment. Translational accelerations and angular velocities of the simulated medium obtained from FlightGear flight simulation software are processed through a generated washout filter algorithm and the simulated medium's motion information is transmitted to the desktop parallel robotic mechanism as a set point for each leg. The major issues of this paper are designing a desktop simulation system, controlling the parallel manipulator, communicating between the flight simulation and the platform, designing a motion-cueing algorithm and determining the parameters of the washout filters.

Düşük Maliyetli 6 Eksen Hareketli Uçuş Simülatörü Prototip Tasarımı

“…İşlemin basitleştirilmesi adına bağlantı noktaları ve başlangıç nokta açıları ile aşağıdaki görselde kesik çizgiler ile gösterilen uzunluklar hesaplanacak. ( ) 2 = ( − ) 2 + ( − ) 2 + (ℎ 0 + ) 2 (51)…”

“…( ) 2 = ( − ) 2 + ( − ) 2 + ( − ) 2 (29) 2 (30) 2 (31) 2 denklemlerini sadeleştirmek için ( ) 2 denkleminde yerlerine yazıldığında aşağıdaki denklem elde edilir.…”

“…Stewart platformlarının uygulama alanları yüksek doğruluk ve seri manipülatörlerinden gelen yüksek kuvvetinden dolayı geniştir. Özellikle Havacılık-Uzay çalışmaları için gerekli pilotaj eğitimlerinde [2], engebeli araziler için tasarlanan askeri mobil gözetim robotlarında [3] sıkça karşımıza çıkmaktadır. Ayrıca sağlık alanında da çalışmalar yapılmaya başlanmıştır [4].…”

Central Nervous System (CNS) Based Motion Control

“…However, the fixed gain parameters lead to miss some data of the vehicle dynamics. According to occurrence, the algorithm generates false motion cues making unrealistic movement [7,[12][13][14][15][16][17][18]. Adaptive washout filter was modified from the classical washout filter.…”

ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform

“…5 The mechanical structure known as Stewart-Gough platform (SGP) is a fully parallel actuated mechanism with six degrees of freedom (DOFs) and it became into a popular research topic of robotics in the 1980s 6 and this trend has prevailed until today. [7][8][9][10] In general, forward kinematics of parallel manipulators is very complicated because the solution involves systems of coupled nonlinear equations with no closed form and unique solutions. The forward kinematics problem (FKP) of SGP is to compute the position and orientation (pose) of moving platform when limbs lengths are given.…”