Kinematics, dynamics, and control of atlas motion platform

传统的训练模拟器运动平台通常使用高夫-斯图尔特平台，也被称为六足，以提供运动线索。虽然被广泛使用，但这类平台的一个显著限制是其有限的工作空间，这是由腿的干扰和关节的限制引起的。典型的定向限制是±30°，±30°，±50°，分别在滚转，俯仰和偏航。基于一系列车辆类型和应用，研究了模拟器在训练中的有效性，表明高保真仿真要求滚转、俯仰和偏航角位移范围超过180°。认识到这些和其他缺点，导致目前申请人的研究小组引入了Atlas运动平台。平台被驱动，这样的方向和定位工作空间是独立的。定向是通过一种创新来实现的，即球形座舱由三个全轮操纵，从而形成无限的定向工作空间。拟开展的研究主要集中在Atlas球面运动平台的三个主要领域，其中绝大多数的基础研究问题在于：1)完成角加速度、角速度和方向水平的运动学建模；2)完整的动力学建模，包括惯性、摩擦、阻尼和非完整效应；3)球体驱动、方位测量和控制系统的开发与实现。科学的方法将涉及从运动几何、代数和计算几何、多体动力学、传感器融合和控制理论发展新的和适应现有的技术。开发的模型和技术将使用伴随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社区的大力支持，因为预计未来十年，具有在该行业取得成功所需技能的博士和硕士毕业生的需求将超过供应。因此，预计拟议的工作将影响并对加拿大国内外运动平台和仿真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.