Title: Full-scale Atlas motion platform: structure, actuation, and control

Authors: Z. Copeland; B. Jung; M.J.D. Hayes; R.G. Langlois

Addresses: Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada ' Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada ' Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada ' Department of Mechanical and Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada

Abstract: This paper presents an overview of the design of the first full-scale prototype of the Atlas flight simulator motion platform for pilot training. The Atlas concept was introduced in 2005, and is unique such that orientation is decoupled from positioning, and unlimited rotations are possible about any axis of the mechanism. Detail design and manufacturing are complete, and assembly is in progress. Central to the design are three Mecanum wheels in an equilateral arrangement, which impart angular displacements to a sphere that houses the cockpit, thereby providing rotational actuation. Since the Atlas sphere rests on these Mecanum wheels, there are no joints or levers constraining its motion, allowing full 360° rotation about all axes, yielding an unbounded orientation workspace that is singularity free. In this paper, the current state of the design and assembly regarding actuation, the spherical S-glass shell, and modelling for motion control are discussed.

Keywords: rotational actuation; motion simulation; dynamic response; structural design; unbounded orientation workspace; motion control; Atlas flight simulator; pilot training; singularity free; motion platform design; motion platform assembly.

DOI: 10.1504/IJMRS.2016.081116

International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.2/3, pp.94 - 112

Received: 27 Jun 2015
Accepted: 24 Mar 2016
Published online: 23 Dec 2016 *

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