COBEM99

S23 Projeto de Sistemas Mecânicos

Title:

MOVABLE PLATFORM TO BE EMPLOYED IN RECREATIONAL CENTERS AS A FLIGHT SIMULATOR

Summary :

ABSTRACT. IN ENTERTAINMENT AREA, SIMULATORS THAT AGGREGATE MOVEMENTS ARE BEING IMPROVED AND HAVE INCREASED THEIR PARTICIPATION IN MAIN PARKS AND RECREATIONAL CENTERS. DIFFERENTLY FROM PROFESSIONAL SIMULATORS THAT, MOST OF ALL, NEED SIX DEGREES OF MOBILITY TO CHARACTERIZE THE BEHAVIOR OF A BODY IN SPACE, SIMULATORS FOR RECREATIONAL CENTERS MAY HAVE SMALLER NUMBER OF DEGREES DEPENDING ON THEIR APPLICATION. SIMULATORS FOR THIS PURPOSE CAN BE BUILT TO ALLOW TWO, THREE OR, EVENTUALLY, FOUR INDEPENDENT MOVEMENTS. THIS ARTICLE PRESENTS A MOVABLE PLATFORM THAT IS JUST A CLOSED KINEMATIC CHAIN LINKAGE, FORMING A PARALLEL STRUCTURE WITH VARIABLE LENGTH COLUMNS. THE CONTROLLED VARIATION OF THESE COLUMN LENGTHS MAY PROVIDE TO A USER SEATED ON THE PLATFORM, FLIGHT FEELINGS DUE TO AN AIRSHIP MOTION. THE SELECTED STRUCTURE FOR THE SIMULATOR IS A PARTICULAR TYPE OF STEWART PLATFORM WITH FOUR DEGREES OF MOBILITY. THE WORK DEALS WITH THE DEVELOPMENT OF A COMPUTATIONAL MODEL OF THE SUGGESTED SIMULATOR - USING MATLAB AS A WORK ENVIRONMENT - WHICH DEVELOPS ITS INVERSE KINEMATICS, I.E. ONCE THE AIRSHIP MOTION IS DEFINED, THE PROGRAM COMPUTES, IN EACH TIME, THE DISPLACEMENTS TO BE IMPOSED TO THE ACTUATORS. BESIDES, THE MODEL FURNISHES THE FORCES ON THE ACTUATORS NEEDED TO SUPPORT SUSPENDED MASS DURING ITS MOTION. AN APPLICATION EXAMPLE IS ALSO PRESENTED IN THIS ARTICLE, WHERE CAN BE FOUND THE RESULTS OF SOME DEVELOPED SIMULATIONS FROM SIMULATOR CHARACTERISTIC DYNAMIC PARAMETERS. KEYWORDS: MECHANISMS, ROBOTICS, MODELLING, SIMULATION.

Author :

COELHO, TARCISIO ANTONIO HESS
OURA, ANDRÉ MITSUYOSHI
YAMAMOTO, RICARDO SHEIJI

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