Skip to main content

We use cookies to distinguish you from other users and to provide you with a better experience on our websites. Close this message to accept cookies or find out how to manage your cookie settings.

Close cookie message
Cancel
×
×
Home
  • Home
Article

Design and control of a cable-controlled haptic motion simulator

  • M. Karkoub (a1), M-G. Her (a2), C-C. Peng (a2), C-C. Huang (a2) and M-I. Ho (a3)...
Summary

In this work, we discuss the design, construction, and testing of a cable-controlled motion simulator for a Virtual Reality (VR) hang gliding environment. The system comprises a cable-controlled motion simulator, a joystick, a Lego™ direction sensor, and a VR environment. The motion simulator and joystick are built out of motors, pulleys, cables, and aluminum beams. The VR environment and motion simulator interact haptically with each other to give a realistic feel to the operator. A dynamic analysis is performed on the simulator to show the effect of gravity and the directional motion on the operator. A series of experiments are then performed to test the effectiveness of the cable-controlled simulator, and the results were very encouraging despite minor glitches with high-speed maneuvers.

Copyright
COPYRIGHT: © Cambridge University Press 2011
Corresponding author
*Corresponding author. E-mail: mansour.karkoub@qatar.tamu.edu
References
Hide All
1.Landsberger, S. E. and Sheridan, T. B. “A Minimal, Minimal linkage: the Tension-Compression Parallel Link Manipulator,” In: Proceedings of the IMACS/SICE International Symposium on Robotics Mechatronics and Manufacturing Systems, Kobe-Japan (1992) pp. 81–88.
2.Landsberger, S. E., “Design and Construction of a Cable-Controlled Parallel-Link Manipulator” Masters Thesis (Mechanical Engineering Department, Massachusetts Institute of Technology, USA, 1984).
3.Gosselin, C. and Bouchard, S., “A gravity-powered mechanism for extending the workspace of a cable-driven parallel mechanism: Application to the appearance modeling of objects”, Int. J. Autom. Technol. 4 (4), 372–379 (2010, July).
4.Ottaviano, E., Ceccarelli, M., Paone, A. and Carbone, G., “A Low-Cost Operation 4-Cable Driven Parallel Manipulator,” In: Proceedings of the IEEE International Conference on Robotics and Automation ICRA05, Barcelona, Spain (2005) pp. 4019–4024.
5.Kawamura, S., Ida, M., Wada, T. and Wu, J.-L., “Development of A Virtual Sports Machine using A Wire Drive System: A Trial of Virtual Tennis”, In: IEEE Proceedings of the International Conference on Intelligent Robots and Systems (1995) pp. 111–116.
6.Williams, R. L. II, “Planar Cable-Suspended Haptic Interface: Design for Wrench Exertion,” Proceedings of the ASME Design Technical Conferences, 25th Design Automation Conference, DETC99/DAC-8639, Las Vegas, NV, USA (1999).
7.Kawamura, S., Kino, H. and Won, C., “High-speed manipulation by using parallel wire-driven robots,” Robotica 18 (1), 13–21 (2000).
8.Usher, K., Winstanley, G., Corke, P. and Stauffacher, D., “Air Vehicle Simulator: An Application for a Cable Array Robot,” In: IEEE: Proceedings of the International Conference on Robotics and Automation (ICRA05), Barcelona, Spain (Apr. 2005) pp. 2253–2258.
9.Viscomi, B. V., Michalerya, W. D. and Lu, L.-W., “Automated construction in the ATLSS integrated building systems,” Autom. Constr. 3 (1), 35–43 (1994).
10.Reichel, A. and Ebert-Uphoff, I., “Force-Feasible Workspace Analysis for Underconstrained Point-Mass Cable Robots,” In: Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA (2004) pp. 4956–4962.
11.Bosscher, P. and Ebert-Uphoff, I., “Wrench-Based Analysis of Cable-Driven Robots,” Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA (2004) pp. 4950–4955.
12.Huang, A. R. W. and Chen, C., “A low-cost driving simulator for full vehicle dynamics simulation,” Trans. Veh. Technol. IEEE 52 (1), 162–172 (2003).
13.MenCndez, R. G. and Bernard, J. E., “Flight simulation in synthetic environments.” Trans. Aerosp. Electron. Syst. Mag. IEEE 16 (9), 19–23 (2001).
14.Kadavasal, M. S. and Oliver, J. H., “Sensor augmented virtual reality based teleoperation using mixed autonomy,” J. Comput. Inf. Sci. Eng. 9 (1), 014502 (2009).
15.Chen, L. K. and Ulsoy, A.G., “Identification of a driver steering model, and model uncertainty, from driving simulator data,” J. Dyn. Syst. Meas. Contr. 123 (4), 623–629 (2001).
16.Watanuki, K., “Development of virtual reality-based universal design review system,” J. Mech. Sci. Technol. 24 (1), 257–262 (2010).
17.Lamb, P. and Owen, D., “Human Performance in Space Telerobotic Manipulation,” In: Proceedings of the ACM Symposium on Virtual Reality Software and Technology, Monterey, CA, USA (Nov. 7–9, 2005) pp. 31–37.
18.Her, M. G., Karkoub, M. and Chen, J. M., “Design and application of a low cost visual tracking system,” Aust. J. Electr. Electron. Eng. 4 (3), 1–10 (2008).
19.Her, M-G., Hsu, K-H., and Lan, T-S., “Virtual reality application for direct drive robot with force feedback,” Int. J. Adv. Manuf. Technol. 21 (1), 66–71 (2003).
20.Adamovich, S. V., Fluet, G. G., Merians, A. S., Mathai, A. and Qiu, Q., “Incorporating haptic effects into three-dimensional virtual environments to train the hemiparetic upper extremity,” Trans. Neural Syst. Rehabil. Eng. IEEE 17 (5), 512–520 (2009).
21.Tseng, H-L. and Fong, I-K., “Implementation of a driving simulator based on a stewart platform and computer graphics technologies,” Asian J. Control 2 (2), 88–100 (2000).
22.Konstantinov, L., “The Basics of Gas and Heat Airship Theory,” Montgolfier # 1 (AEROPLAST Inc., Kyiv, Ukraine, 2003) pp. 1–21.
23.Barbagli, F., Ferrazzin, D., Avizzano, C. A. and Bergamasco, M., “Washout Filter Design for a Motorcycle Simulator,” Proceeding of the IEEE Virtual Reality (2001) pp. 225–232.
24.Karkoub, M., Her, M-G. and Chen, J-M., “Design and analysis of a haptic interactive motion simulator for virtual entertainment systems,” Robotica 28 (1), 47–56 (2009).
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *

CAPTCHA *

Skip to the audio challenge
×

Keywords:

Metrics

Full text views

Total number of HTML views: 1
Total number of PDF views: 22 *
Loading metrics...

Abstract views

Total abstract views: 143 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 13th June 2018. This data will be updated every 24 hours.

Cancel
Confirm
×