MPI Motion Simulator: Development and Analysis of a Novel Motion Simulator

摘要

This paper discusses the technical issues that were required to adapt a KUKA Robocoaster for use as a real-time motion simulator. Within this context, the paper addresses the physical modifications and the software control structure that were needed to have a flexible and safe experimental setup. It also addresses the delays and transfer function of the system. The paper is divided into two sections. The first section describes the control and safety structures of the MPI Motion Simulator. The second section shows measurements of latencies and frequency responses of the motion simulator. The results show that the frequency responses of the MPI Motion Simulator compare favorably with high-end Stewart Platforms, and therefore demonstrate the suitability of robot-based motion simulators for flight simulation. I.