Kinematic and Dynamic Model of the Human Centrifuge
Apstrakt
Human centrifuge is dynamic flight simulator used to provide motion and forces
cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high
G onset rates and high levels of sustained G for pilot trainings and research. In this paper,
modeling of human centrifuge as a three DoF robot manipulator with revolute joints is
presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for
modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and
inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses)
of centrifuge links are determined and the results are compared with results obtained from
developed Jacobian where singular positions are particularly discussed. Inverse dynamics
algorithm based on covariant form of Lagrange equations of the second kind is given.
Developed kinematic and dynamic models are implemented into control unit and simulated
in offline part... if control system.
Ključne reči:
Human centrifuge / kinematic model / dynamic model / Rodriguez formulaIzvor:
Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013, 2013, 627-632Izdavač:
- Belgrade: Serbian Society of Mechanics
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Razvoj uređaja za trening pilota i dinamičku simulaciju leta modernih borbenih aviona i to 3-osne centrifuge i 4-osnog uređaja za prostornu dezorijentaciju pilota (RS-MESTD-Technological Development (TD or TR)-35023)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Vidaković, Jelena AU - Kvrgić, Vladimir AU - Ferenc, Goran AU - Dančuo, Zorana AU - Lazarević, Mihailo PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4446 AB - Human centrifuge is dynamic flight simulator used to provide motion and forces cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high G onset rates and high levels of sustained G for pilot trainings and research. In this paper, modeling of human centrifuge as a three DoF robot manipulator with revolute joints is presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses) of centrifuge links are determined and the results are compared with results obtained from developed Jacobian where singular positions are particularly discussed. Inverse dynamics algorithm based on covariant form of Lagrange equations of the second kind is given. Developed kinematic and dynamic models are implemented into control unit and simulated in offline part if control system. PB - Belgrade: Serbian Society of Mechanics C3 - Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 T1 - Kinematic and Dynamic Model of the Human Centrifuge EP - 632 SP - 627 UR - https://hdl.handle.net/21.15107/rcub_machinery_4446 ER -
@conference{ author = "Vidaković, Jelena and Kvrgić, Vladimir and Ferenc, Goran and Dančuo, Zorana and Lazarević, Mihailo", year = "2013", abstract = "Human centrifuge is dynamic flight simulator used to provide motion and forces cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high G onset rates and high levels of sustained G for pilot trainings and research. In this paper, modeling of human centrifuge as a three DoF robot manipulator with revolute joints is presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses) of centrifuge links are determined and the results are compared with results obtained from developed Jacobian where singular positions are particularly discussed. Inverse dynamics algorithm based on covariant form of Lagrange equations of the second kind is given. Developed kinematic and dynamic models are implemented into control unit and simulated in offline part if control system.", publisher = "Belgrade: Serbian Society of Mechanics", journal = "Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013", title = "Kinematic and Dynamic Model of the Human Centrifuge", pages = "632-627", url = "https://hdl.handle.net/21.15107/rcub_machinery_4446" }
Vidaković, J., Kvrgić, V., Ferenc, G., Dančuo, Z.,& Lazarević, M.. (2013). Kinematic and Dynamic Model of the Human Centrifuge. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 Belgrade: Serbian Society of Mechanics., 627-632. https://hdl.handle.net/21.15107/rcub_machinery_4446
Vidaković J, Kvrgić V, Ferenc G, Dančuo Z, Lazarević M. Kinematic and Dynamic Model of the Human Centrifuge. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013. 2013;:627-632. https://hdl.handle.net/21.15107/rcub_machinery_4446 .
Vidaković, Jelena, Kvrgić, Vladimir, Ferenc, Goran, Dančuo, Zorana, Lazarević, Mihailo, "Kinematic and Dynamic Model of the Human Centrifuge" in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 (2013):627-632, https://hdl.handle.net/21.15107/rcub_machinery_4446 .