A motion base with 6 degrees of freedom by parallel cable drive architecture

This paper proposes a new type of motion base for virtual sensation of acceleration. Its architecture is the parallel cable-driven mechanism. It expresses outstanding advantages in comparison with conventional Stewart platform architecture, especially on duration of virtual acceleration sensation. Optimal mechanism design is performed from the viewpoint of kinematics. Simulation results show that the WARP mechanism consisting of 3-3-2 cable configuration is one of the best designs as a motion base. The prototype developed has the maximum motion range of translation /spl plusmn/0.45 m/spl times//spl plusmn/0.4 m/spl times/1.1 m, and of rotation /spl plusmn/45/spl deg/ in roll angle, /spl plusmn/45/spl deg/ in pitch, and /spl plusmn/35/spl deg/ in yaw. It can produce acceleration of 1G for 0.8 second without using gravity at its maximum.