Kinematics, dynamics, and control of atlas motion platform

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Conventional training simulator motion platforms commonly use a Gough-Stewart platform, otherwise known as a hexapod, to provide motion cues. While widely used, a significant limitation to this class of platform is its limited workspace caused by leg interferences and joint limits. Typically the orienting limits are ±30°, ±30°, ±50°, in roll, pitch, and yaw, respectively. Studies addressing simulator effectiveness in training, based on a range of vehicle types and applications, indicate that high-fidelity simulation requires roll, pitch, and yaw angular displacement ranges in excess of 180°. Recognition of these and other shortcomings has led to the introduction of the Atlas motion platform by the present applicant's research group. The platform is actuated such that the orienting and positioning workspaces are independent. Orienting is achieved using an innovation whereby a spherical cockpit is manipulated by three omni-wheels leading to an unbounded orienting workspace. The proposed research will specifically focus on three major areas of the Atlas spherical motion platform, where the vast majority of fundamental research questions lie: 1) complete kinematic modeling at the angular acceleration, angular velocity, and orientation levels; 2) complete dynamic modeling, including inertial, friction, damping, and nonholonomic effects; 3) development and implementation of the sphere actuation, orientation measurement, and control systems. The scientific approach will involve development of new and adaptation of existing techniques from kinematic geometry, algebraic and computational geometry, multibody dynamics, sensor fusion and control theory. Developed models and techniques will be verified and validated using concomitant methods and experimentation. The concept of the Atlas project has received strong support from the Canadian simulation community as it is projected that demand will exceed supply of recent Ph.D. and Masters graduates with the skill set required to succeed in this industry over the next decade. It is therefore expected that the proposed work will influence and make a significant impact on the research and industrial sectors of the motion platform and simulation communities both within Canada, and internationally.