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- W2312656923 abstract "Testing and validation of flight hardwar e in ground -based facilities can result in significant cost savings and risk reduction. We designed a relative motion emulator for aerospace vehicles using omni -directional mobile bases which provide large 3 degree -of freedom motion , while Stewart platfor ms mounted atop these bases allow superposition of limited 6 degree -of -freedom motion. This paper addresses the design and implementation of the omni -directional mobile base. Each omni -directional base uses a trio of active split offset castor drive modu les to provide smooth, holonomic, precise control of its motion. Three encoders on each castor, three optical mice sensors , and a 3 -axis inertial measurement unit provide full feedback information to a kinematics based control law. We built a one -third scale prototype to demonstrate design feasibility and for use in testing and development of data fusion techniques, control laws, and a dynamics model of the full -scale platform . Results presented in the paper validate the feasibility of the design and the approach. Nomenclature R = distance from center of mass of base to pivot point w r = wheel radius (m) c r = distance from pivot to shaft along 1 ˆ c c � = distance from pivot to castor CM along 1 ˆ c i � = angle between 1 ˆ" @default.
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- W2312656923 date "2007-06-15" @default.
- W2312656923 modified "2023-10-16" @default.
- W2312656923 title "Aerospace Vehicle Motion Emulation Using Omni-Directional Mobile Platform" @default.
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- W2312656923 doi "https://doi.org/10.2514/6.2007-6325" @default.
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