An Inverse Kinematic- based Model Predictive Motion Cueing Algorithm for a 6-DoF Gantry-Tau Mechanism

摘要

The regeneration of the real aeroplane motion signal can be possible inside the Timited workspace of the simulation-based motion platform (SBMP) using motion cueing algorithm. The Gantry-Tau-3R is the combination of Gantry-Tau manipulator and the spherical wrist mechanism with capability of generating 6-degree-of-freedom motion signals. Gantry-Tau-3R can be used as a high-G flight SBMP because of large translational and angular workspace boundaries compared with parallel and serial mechanism. The linear model predictive control-based (MPC-based) MCAs are recently used to extract the optimal value of the input signals with respecting the linear constraints. The existing MPC-based MCAs considered the limitations of the SBMP in Cartesian coordinate system while the MPC-based MCA with consideration of the inverse kinematics model of the Gantry-Tau-3R mechanism is designed and developed for the first time in this research to consider the physical limitations of the active joints. The proposed model is validated via the simulation using MATLAB software, and the outcomes of the proposed MPC-based MC regenerate less false motion cues.