Development and Evaluation of a Threshold-Based Motion Cueing Algorithm

In this paper, a motion cueing algorithm (MCA) without a frequency divider is proposed, which aims to reproduce the longitudinal reference acceleration as far as possible via tilt coordination. Using a second-order rate limit, the human perception thresholds can directly be taken into account when parameterizing the MCA. The washout is compensated by tilt coordination and means of feedback from the translational acceleration. The proposed MCA is compared with the classical washout algorithm and the compensation MCA based on selected qualitative metrics and their workspace demand. In addition, a subjective study on the evaluation of the MCA was conducted. The results show that even high washout rates are not noticeable by the test subjects. Overall, the MCA was rated as very good.

Direct Kinematics of 6-RSPS Driving Simulation Platform Based on FBGS Algorithm

A new 6-RSPS simulator platform mechanism is proposed compared with the traditional 6-SPS mechanism. It is more verisimilar when simulating a vehicle’s turning because it can realize unlimited rotation around Z axis so as to avoid the washout algorithm in the direction of Z axis. The kinematics model is established by the rod length vector relationship. The BFS algorithm is applied to calculate the direct kinematics of 6-RSPS mechanism, and the precise direct kinematics solution can be obtained in the condition that the number of iterations decreases. Through the direct kinematics of 6-RSPS with the reverse kinematics solution to find that the rod length errors and the rotary angle errors are all controlled below 1.1 percent.