| Summary: | 博士 === 國立交通大學 === 機械工程系所 === 96 === This dissertation presents an optimal method for designing and controlling a novel motion simulator system with only rotational degrees of freedom (DOF). The feasibility of adopting the design of X-series motion platforms to combine optimal workspace and mechanical advantage, which is considered important for low-cost simulators, is investigated. A design method to optimize an objective function is also presented. The proposed method consolidates some major issues associated with workspace volume, workspace symmetry, and actuator power requirements. Performance indices obtained from inverse/forward kinematics are adopted within a global optimization procedure, a genetic algorithm (GA), to determine the designed spread-angle that improves static and dynamic performance. Furthermore, an optimal motion-cueing strategy is applied to the designed simulator system with three rotational DOF to perform the roll, pitch, yaw, surge, and sway motions via an online optimization algorithm. Weighting functions are adaptively tuned in each step, and the optimal Euler angles are obtained analytically. This motion-cueing algorithm is efficient as it requires no recursive search on the optimal solution. Experimental results demonstrating the validity of the five DOF motion simulation are presented. The proposed algorithm is applied to X2/X360 motion simulators with software and hardware realization.
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