Multi-DOFs motion platform based on spherical wheels for unmanned systems

摘要

This paper presents to develop a multi-degree of freedom motion platform utilizing spherical wheels for unmanned systems. Recently, as rapidly developing unmanned robotic systems, it increases demands to control the systems by operators remotely and precisely, in particular for unmanned vehicles. Various multi-degree of freedoms (DOFs) motion control platforms have been utilized to transfer realistic motion to remote operators as they are on board by providing virtual reality. However, existing motion platforms have limits in motion realization and the number of DOFs due to mechanical linkages and actuating mechanism. In this paper, a new concept and design of 6 DOFs motion platform, capable of controlling 3 DOFs rotation and 3 DOFs translation motion is developed and feasibility and performance of motion control are practically demonstrated using an open-loop control. The performance shows the design of the motion platform sucessfully control rotation and translation motion independently and thus effectively control the unmanned systems.