Kinematics, dynamics, and control of atlas motion platform

Atlas运动平台的运动学、动力学和控制

• 批准号: 250012-2011
• 负责人: Hayes, John
• 金额: $ 1.46万
• 依托单位: Carleton University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=547475
• 关键词: Kinematics; dynamics; control; atlas; motion

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.

传统的训练模拟器运动平台通常使用高夫-斯图尔特平台（也称为六足机器人）来提供运动提示，但此类平台的一个重大限制是其由于腿部干扰和关节限制而导致的工作空间有限。基于一系列车辆类型和应用，针对侧倾、俯仰和偏航方向的定向限制分别为 ±30°、±30°、±50°。模拟需要超过180°的滚动、俯仰和偏航角位移范围。对这些和其他缺点的认识导致本申请人的研究小组引入Atlas运动平台，以使得定向和定位。定向是通过一项创新来实现的，球形驾驶舱由三个全向轮操纵，从而形成无限的定向工作空间。拟议的研究将特别关注三个。 Atlas 球形运动平台的主要领域，其中绝大多数基础研究问题在于：1）角加速度、角速度和方向水平的完整运动学建模；2）完整的动态建模，包括惯性、摩擦、阻尼和运动。非完整效应；3）球体驱动、方向测量和控制系统的开发和实施，科学方法将涉及运动几何、代数和计算几何、多体的新技术和现有技术的开发。动力学、传感器融合和控制理论。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，因为预计最近的博士论文的需求将超过供应。因此，预计拟议的工作将对运动平台和模拟社区的研究和工业部门产生重大影响。在加拿大境内和国际上。