Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2017-11
Main Authors: Nawratil, Georg, Rasoulzadeh, Arvin
Format: Article
Language:English
Subjects:
Kinematics
Redundancy
Singularities
State court decisions
Treadmills
Virtual reality
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; namely an equiform reconfigurability of the base. The instantaneous kinematics and singularities of this mechanism are studied, where especially "unavoidable singularities" are characterized. These are poses of the motion platform, which can only be realized by singular configurations of the mechanism despite its kinematic redundancy.
ISSN:2331-8422