パラレルケーブル駆動アーキテクチャによるモーションベースの提案

概要

論文の詳細を見る
A motion base plays an important role in generating virtual sensation of the whole body motion such as on vehicles, horses, spacecrafts, and amusement machines. This paper proposes a new design of motion base using a parallel cable-driven mechanism. It has outstanding advantages over conventional Stewart platforms. Acceleration can last for a long period because possible distance of translation is long. Possible acceleration is larger in principle. Optimal mechanism design is performed for a class of WARP architecture having eight cables. Parameter optimization of mechanical design is performed for the motion range to maximize the acceleration duration. The prototype developed on the basis of the kinematic and dynamic analyses has the maximum motion range of translation ± 0.45m × ± 0.4m × 1.1m, and of rotation ±45° in roll angle, ±45° in pitch, and ±35° in yaw, showing acceleration 1G for 0.8 second without utilizing gravity.
日本バーチャルリアリティ学会の論文
2001-03-31