A parallel cable-driven motion base for virtual acceleration

• Published in: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Vol. 3; pp. 1700 - 1705 vol.3
• Main Authors: Tadokoro, S., Matsushima, T., Murao, Y., Kohkawa, H.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2001
• Subjects: Acceleration; Cables; Floors; Frequency; Gravity; Joining processes; Kinematics; Layout; Safety; Wires
• ISBN: 0780366123; 9780780366121
• DOI: 10.1109/IROS.2001.977223

This paper presents a new motion base design for creating virtual acceleration using a parallel cable-drive mechanism architecture, WARP. It has several advantages: 1) the rotational motion range is large, 2) the traveling room can be grounded on the floor, 3) a scene projection is possible for all the walls, and 4) the redundancy improves the safety for cut of cables. Optimal mechanism design is performed for a class of WARP mechanisms to develop a prototype. A trajectory planning method for long-term virtual acceleration is proposed. A low frequency component of acceleration is realized by rotational motion, and a high frequency is produced by translational motion. Experimental results creating the virtual acceleration of jet coaster trajectories demonstrated the effectiveness of this new design.