雙軸旋轉式動感模擬器之設計與控制研究於虛擬實境系統之應用

THE DESIGN AND CONTROL OF THE TWO - AXIS ROTARY MOTION SIMULATOR FOR VIRTUAL REALITY SYSTEM

陳孟廷(Meng-Ting Chen)

指導教授 ： 何明果

大同大學/工程學院/機械工程學系所/碩士(2007年)

摘要

本論文的主要目的為「以旋轉自由度模擬直線自由度運動」。本研究使用雙軸旋轉式的載具來模擬觸覺與動感等知覺回饋，相較於使用高成本的線性滑軌，可將所需空間的要求大幅降低。
此外，有別於使用高頻濾波器控制輸出，本研究對於操作者控制搖桿的輸入經過轉換計算，能持續地給予加速和轉彎時所受力的感覺。

關鍵字

虛擬實境 ； 動感模擬器

並列摘要

The main purpose of the research is to simulate the straight line degree of freedom movement with the rotary degree of freedom. The two-axis rotary motion simulator is used to simulate motion stimulus feedback in this thesis. Compared to linear guides, the two-axis rotary motion simulator just requires smaller space limitation. Moreover, differing from high-pass filter, the operator motion stimulus feedback in this thesis can be provided by calculating the input datum continuously.

並列關鍵字

VIRTUAL REALITY SYSTEM ； ROTARY MOTION SIMULATOR

參考文獻

[1] Ming-Guo Her, Kuei-Shu Hsu, "DESIGN AND ANALYSIS OF HAPTIC DIRECT DRIVE ROBOT FOR VIRTUAL REALITY," Journal of Info- rmation & Optimization Sciences, Vol. 22, pp. 441-461, 2001

[6] Ming-Guo Her, Kuei-Shu Hsu, Wen-Shyong Yu and Tian-Syung Lan, "A- NALYSIS AND DESIGN OF A TELEROBOTIC SYSTEM WITH HA- PTIC BEHAVIOR," International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp49-54 , August 20-22, 2001

[9] K.M.Lee and D.Shan, "KINEMATIC ANALYSIS OF A THREE DEGR- EES OF FREEDOM IN-PARALLEL ACTUATED MANIPULATOR," IN Proc.IEEE Int.Conf.on Robotics and Automation, Vol.4,No.3,pp.354 ~360,1988

參考文獻

[2] Ming-Guo Her, M. Karkoub, and Kuei-Shu Hsu, "DESIGN AND ANAL- YSIS OF A 2-D HAPTIC INTERFACE DEVICE IN VIRTUAL REAL- ITY," International Journal of Computer Applications in Technology, V- ol. 15, Nos.1/2/3, pp. 60-69, 2002