Analyse, optimisation et conception de mecanismes de simulation de mouvement a trois degres de liberte

Abstract

Les deux objectifs principaux poursuivis dans ce projet sont les suivants: (1) l'etude comparative de la qualite des sensations de mouvement obtenues par differents types de plates-formes de mouvement simplifiees, ne possedant que 3 degres de liberte, par rapport a celles obtenues avec un simulateur classique, a 6 degres de liberte; et (2) la conception cinematique suivie de l'optimisation de systemes mecaniques a 3 degres de liberte pouvant servir de plate-forme de generation de mouvement pour simulateur.

Nous avons obtenu des resultats tres encourageants en regard du premier objectif. Cette constatation nous poussa a poursuivre la recherche et au moins cinq (5) architectures distinctes furent generees, analysees et optimisees en regard du second objectif. Parmi celles-ci, une architecture fut retenue a titre d'exemple et sa conception preliminaire fut realisee, ainsi qu'une analyse sommaire des forces requises a ses actionneurs.

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The two main objectives pursued in this project are as follows: (1) the comparative study of the quality of movement sensations obtained by different types of simplified movement platforms, having only 3 degrees of freedom, compared to those obtained with a classic simulator, with 6 degrees of freedom; and (2) kinematic design followed by optimization of mechanical systems with 3 degrees of freedom that can serve as a motion generation platform for simulator.

We have obtained very encouraging results with regard to the first objective. This observation pushed us to continue the research and at least five (5) distinct architectures were generated, analyzed and optimized with regard to the second objective. Among these, an architecture was chosen as an example and its preliminary design was carried out, as well as a summary analysis of the forces required for its actuators.