Dynamic Behavior of an Interactive XY - 6 DoF Simulator for People with Reduced Mobility

摘要

Sliding simulators for people with poor or reduced mobility, such as skiing, jet skiing, and wake, are new fields of motion simulator while all existing simulators for sliding movement, from our knowledge, use a low degree of freedom robot which limits the reproduction of the human sensations. In this paper, we present a high degree of freedom simulator with a hybrid structure composed of a parallel 6 DoF Gough-Stewart robot mounted on a serial XY table, we present the building of mixed reality environment, then, we propose two scenarios for operating the simulator: manual or interactive mode and automatic mode. At the interactive mode level, we present the way-points tracking and virtual obstacle avoidance and at the automatic mode level, we present the planning of predefined trajectory and the application of classic and adaptive approaches of motion cueing algorithm on the real platform.