Kinematics, dynamics, and control of atlas motion platform

传统的训练模拟器运动平台通常使用Gough-Stewart平台(也称为六足平台)来提供运动提示。在广泛使用的同时，这种平台的一个重要限制是其工作空间有限，这是由于腿部干涉和关节限制造成的。通常情况下，横摇、俯仰和偏航的定向极限分别为±30°、±30°和±50°。基于一系列车辆类型和应用的关于模拟器在训练中的有效性的研究表明，高保真模拟需要横摇、俯仰和偏航角位移范围超过180°。由于认识到这些缺点和其他缺点，本申请人的研究小组采用了阿特拉斯动议平台。平台被致动，使得定向和定位工作空间是独立的。定向是通过一项创新实现的，通过三个全轮操纵球形驾驶舱，从而形成一个无限的定向工作空间。拟议的研究将具体集中在Atlas球面运动平台的三个主要领域，其中绝大多数基础研究问题在于：1)完成角加速度、角速度和姿态级别的运动学建模；2)完成动力学建模，包括惯性、摩擦、阻尼和非完整效应；3)球体驱动、姿态测量和控制系统的开发和实现。科学方法将涉及从运动几何学、代数和计算几何学、多体动力学、传感器融合和控制理论发展新的和适应现有技术。所开发的模型和技术将使用相应的方法和实验进行验证和验证。Atlas项目的概念得到了加拿大模拟界的大力支持，因为据预测，在未来十年内，拥有在该行业取得成功所需技能的新近毕业的博士和硕士毕业生将供不应求。因此，预计拟议的工作将对加拿大国内和国际上的运动平台和模拟界的研究和工业部门产生重大影响。

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.