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A six degrees-of-freedom, hydraulic, one person motion simulator Drexel, Peter A. W.

Abstract

In order to simulate the motion of heavy equipment used in the forestry industry for the purpose of human factors and teleoperation research, we have designed a six degrees-of-freedom, hydraulic, one person motion simulator. In this thesis we derive the inverse kinematics and the jacobian of the platform. We also derive the forward kinematics of the platform using Newton's method and address workspace issues from the point of view of a "singularity boundary." In addition, we look at platform dynamics including the design of the hydraulic actuation system. Based on the results of dynamic simulations, we expect that this motion simulator will provide 9.8 m/s² , 400°/s² accelerations and 1 m/s, 30°/s speeds to a 250 kg payload with 1 m, 45° displacements from a nominal center.

Item Metadata

Title
A six degrees-of-freedom, hydraulic, one person motion simulator
Creator
Drexel, Peter A. W.
Publisher
University of British Columbia
Date Issued
1992
Description
In order to simulate the motion of heavy equipment used in the forestry industry for the purpose of human factors and teleoperation research, we have designed a six degrees-of-freedom, hydraulic, one person motion simulator. In this thesis we derive the inverse kinematics and the jacobian of the platform. We also derive the forward kinematics of the platform using Newton's method and address workspace issues from the point of view of a "singularity boundary." In addition, we look at platform dynamics including the design of the hydraulic actuation system. Based on the results of dynamic simulations, we expect that this motion simulator will provide 9.8 m/s² , 400°/s² accelerations and 1 m/s, 30°/s speeds to a 250 kg payload with 1 m, 45° displacements from a nominal center.
Extent
4105640 bytes
Genre
Thesis/Dissertation
Type
Text
File Format
application/pdf
Language
eng
Date Available
2008-12-15
Provider
Vancouver : University of British Columbia Library
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
DOI
10.14288/1.0065000
URI
http://hdl.handle.net/2429/2898
Degree
Master of Applied Science - MASc
Program
Electrical and Computer Engineering
Affiliation
Applied Science, Faculty of; Electrical and Computer Engineering, Department of
Degree Grantor
University of British Columbia
Graduation Date
1992-11
Campus
UBCV
Scholarly Level
Graduate
Aggregated Source Repository
DSpace

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Rights

For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.