Kinematic and Dynamic Model of the Human Centrifuge

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.