A new analytical system applying 6 DOF parallel link manipulator for evaluating motion sensation

Author

Mimura, Nobuharu ; Funahashi, Yasuyuki

Author_Institution

Central R&D, Toyota Motor Corp., Nagakuta, Japan

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

227

Abstract

A 6 DOF motion system using a new parallel link mechanism is developed for purposes of evaluating human motion sensation. This motion system is made up of three five-bar mechanisms, each of which has 2 degrees of freedom (DOF) and is driven by AC servo motors. Therefore, this system is very small and low cost, but its motion area is larger and its response is better than previous hydraulic Stewart platform. Furthermore, we have developed a high-speed parallel signal-processing controller for motion control and a new 6 DOF acceleration sensing system based on the parallel sensing concept. Combining the new motion and sensory system with multivideo system, we have built up a new analytical system for evaluating wide band-width of motion sensation in getting on such vehicles as automobile or airplane

Keywords

computer vision; human factors; manipulators; signal processing equipment; 6 DOF acceleration sensing system; 6 DOF motion system; 6 DOF parallel link manipulator; AC servo motors; analytical system; five-bar mechanisms; high-speed parallel signal-processing controller; hydraulic Stewart platform; multivideo system; subjective human motion sensation evaluation; AC motors; Acceleration; Control systems; Costs; Humans; Motion analysis; Motion control; Servomechanisms; Servomotors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525290

Filename

525290