Optimization of six-degrees-of-freedom motion systems for flight simulators

The cueing capabilities of a synergistic flight-simulator motion system are limited primarily by the maximum translational and rotational travel allow ed by the motion-base. This travel capability, also known as the workspace, is dictated by the kinematic layout of the motion system. Furthermore, the Jacobian matrix, which maps velocities from platform space to joint space, indicates the dexterity of the mechanism, or the mechanical effort needed by the actuators to move the platform. To systematically design unconventio nal motion-bases, a methodology has been developed to analyze arbitrary six -degrees-of-freedom motion systems. The approach is based on an optimizatio n program to determine the optimal layout of the motion system, given the w orkspace performance objectives and the design constraints. This allows the investigation of unconventional platform geometries and actuator attachmen t points, thus allowing the designer to tailor the workspace as required by the simulation task, to ensure that a satisfactory dexterity is maintained , and to guarantee that the actuator legs do not interfere mechanically. Th is paper describes the proposed methodology, and shows examples of its appl ications, first to generic workspaces, and then to the workspace required f or the simulation of a large transport aircraft.