Modelling the translational dynamics of the Atlas motion platform
The novel Atlas motion platform is designed to prescribe in six degrees of freedom the motion of a spherical simulator cockpit with the unusual capability of providing kinematically-uncoupled translational and rotational motion, unbounded rotational motion, and a fully-dexterous workspace. In support of the design and operation of the Atlas simulator, a translational dynamic model of the system has been developed. It includes the prescribed motion of the interface between the translational and rotational stages, translational motion of the spherical cockpit, and translational motion of the upper 'halo' support structure. Contact points between the spherical cockpit and the constraint/actuation system were modelled using directed elements consisting of either constant-force elements or spring/damper elements. In the case of the spring/damper elements, stiffness and damping parameters were obtained by a combination of finite element analysis of structural elements and experimental characterization of viscoelastic elements along the interfacing load paths. The dynamic model is suitable for evaluating internal forces and relative motions within the simulator resulting from translation motions; and forms the basis for extension to include rotational dynamics of the simulator system.
|Keywords||Atlas motion platform, Dynamic modelling, Effective stiffness, Finite element analysis, Material characterization|
|Conference||4th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2017|
Leigh, K. (Kaitlin), Rappoport, M. (Michael), Thevenot, J. (Jerome), & Langlois, R.G. (2017). Modelling the translational dynamics of the Atlas motion platform. In International Conference of Control, Dynamic Systems, and Robotics. doi:10.11159/cdsr17.137