Eclipse-II

1. Research Topic



< Eclipse  II Motion Simulation>

< Eclipse  II >  

 

2. Research Contents



Motion simulators are virtual reality systems that assume the appearance of a real situation by using audio-visual effects and movements of a motion base. Such devices are used for many purposes, e.g., flight and driving simulators. Most current simulators have adopted the Stewart-Gough platform as the motion base. This platform is a six degree-of-freedom parallel mechanism that has a limitation on rotational ability as 20~30 degrees, so it is not possible to realize a 360-degree platform overturn. The Eclipse-II mechanism was proposed to overcome this limitation . Eclipse-II mechanism simulates any continuous spinning over 360-degree in any rotational directions.In addition it is also able to simulate x, y, z-axis translational motions as well. Since there are no limits in the rotational motion, it is possible to design a more realistic and higher fidelity motion simulator.
 

 Fig.1 Process of development of Eclipse-II one-man ride machine

The Eclipse-II is a six degree-of-freedom parallel mechanism that consists of three PPRS serial sub-chains that move independently on a fixed circular guide. Here, P, R, and S denote prismatic, revolute, and spherical joints, respectively. And it is verified through numerous robotic analysis including kinematic analysis, singularity analysis eliminating all singularities, workspace analysis, dynamics, path planning algorithm and so on. (Detailed in publications)

To verify Eclipse-II mechanism, we have developed a working sample of this mechanism, and tested full 6-D.O.F motions using various dynamic images and the 'MS Flight Simulator 2002'. Its specifications are shown in publications.


 

 Fig.2 Working sample of the Eclipse-II

 

Based on the experience of the Eclipse-II working sample, we built an Eclipse-II one-man ride machine which is designed to let one person to ride and enjoy the virtual reality in Nov. 2005. To simulate any motion in the space, we are developing the on-line path planning algorithm, wash-out filters and so on. Moreover we are making several motion pathes synchronized to various dynamic images such as simulations of roller coasters, virtual reality amusement applications, space crafts, airplanes and jet fighters. Each sample movie clip is shown in the top of this page, in '1. Research Topic' catagory
 

 

 Fig.3 Eclipse-II One-man ride machine

 

Table 1. Specification of the Eclipse-II One-man ride machine
Machine Dimension (L x W x H) 4200 mm x 4200 mm x 4700 mm
Machine Weight 12000 kgf
Workspace Diameter 236.6 mm
Workspace Height 491.3 mm
Maximum Linear Speed 36 m/min
Maximum Linear Acceleration 4900 mm/sec2
Maximum Angular Speed 120 deg/sec
Maximum Angular Acceleration 500 deg/sec2
Number of Axes9 (AC-Servo motors) 9 (AC-Servo motors)



 


3. Publication



• Donghun Lee, Jongwon Kim and TaeWon Seo "Optimal design of 6-DOF eclipse mechanism based on task-oriented workspace" Robotica30691-699  2012 [PDF]

• Sunho Kim, Woosung In, Dongsu Jeon, Hyunpyo Shin, Jongwon Kim "Design and Analysis of Decoupled Parallel Mecahnism with Redundant Actuator" International Journal of Precision Engineering and Manufacturing (SCIE)93-99  2009 [PDF]

• Young Man Cho, Ik Kyu Kim, Jong Jin Woo, Hwa Soo Kim, Jongwon Kim "Fast Design of the QP-based Optimal Trajectory for the Eclipse-II Motion Simulator" KSME International Journal 211973-1985  2006 [PDF]

• Jongwon Kim, Young man Cho, Frank C. Park, Jang Moo Lee "Design of a Parallel Mechanism Platform for Simulating Six Degrees-of-freecom General Motion Including Continuous 360-degree Spin" CIRP Annals52347-350  2003 [PDF]

• Chanhee Han, Jinwook Kim, Jongwon Kim, F.C. Park "Eclipse-II: A New Parallel Mechanism Enabling Continuous 360-degree Spinning Plus Three-axis Translational Motions" Mechanism and Machine Theory 37787-798  2002 [PDF]

• Chanhee Han, Jinwook Kim, Jongwon Kim, F.C. Park "Eclipse-II: A New Parallel Mechanism Enabling Continuous 360-degree Spinning Plus Three-axis Translational Motions" Mechanism and Machine Theory 37787-798  2002 [PDF]

• Jongwon Kim, Jae-Chul Hwang, Jin-Sung Kim, Cornel C. Iurascu,F.C. Park and Young Man Cho "Eclipse-II: A New Parallel Mechanism Enabling Continuous 360-degree Spinning Plus Three-axis Translational Motions" IEEE Transactions on Robotics and Automation18367-373  2002 [PDF]

• Chanhee Han, Jinwook Kim, Jongwon Kim, F.C. Park "Kinematic sensitivity analysis of the 3-UPU parallel mechanism" Mechanism and Machine Theory37787-798  2002 [PDF]

• Jongwon Kim, Jae-Chul Hwang,Jin-Sung Kim, F.C.Park and Young Man Cho "Eclipse-II : A New Parallel Mechanism Enabling Continuous 360-degree Spining Plus Three-axis Translational Motion" IEEE International Conference on Robotics and Automation  2001 [PDF]

• Dongsu Jeon, Woosung In, Sunho Kim, Hyunpyo Shin, Jongwon Kim "Development of the Eclipse-II motion simulator" Second international workshop on fundamental issues and future research directions for parallel mechanism and manipulators, 2008  9. 09 2008 [PDF]

• 이성철, 김종원, 이동훈 "새로운 개념의 운동 재현용 병렬기구 이클립스-II를 위한 운동계획 알고리즘" 한국정밀공학회 2007년도 추계학술대회  1. 11 2007 [PDF]

• 신현표, 김종원 "Ecilpse-II 모션 시뮬레이터에서의 최적 원점 복귀 알고리즘" 한국정밀공학회  1. 11 2007 [PDF]

• Sun Ho Kim, Hyun Pyo Shin, Woo Sung In,Dong Soo Jeon,Si Tae Kim and Jongwon Kim "DYNAMIC MODELING AND MOTION PLANNING FOR REDUNDANT PARALLEL KINEMATIC MECHANISM USING JOINT TORQUE " 2006 International Symposium on Flexible Automation  7. 07 2006 [PDF]

• Jongwon Kim and Sun Ho Kim "A New Fighter Simulator Based on a Full Spinning Six Degrees-of-freedom Parallel Mechanism Platform" Interservice/Industry Training, Simulation, and Education Conference(I/ITSEC)  1. 11 2005 [PDF]

• Sun Ho Kim, Hyun Pyo Shin, Woo Sung In and Jongwon Kim "Design of a 6 D.O.F Flight Simulator Based on a Full Spinning Parallel Mechanism Platform" American Institute of Aeronautics and Astronautics  8. 08 2005 [PDF]

• Jin Sung Kim, Sun Ho Kim and Jongwon Kim "Motion Planning for Redundant Parallel Kinematic Mechanism Using Joint Torque Distribution" International Conference on Manufacturing, Machine Design and TribologySeoul  6. 06 2005 [PDF]

• 인우성, 김종원 "병렬구조 모션 시뮬레이터 이클립스-II를 위한 가상현실 시험경로 개발" 한국정밀공학회  0. 10 2004 [PDF]

• 김진성, 김종원 "6-자유도 운동 재현을 위한 신개념 병렬기구(A New Parallel Mechanism Platform for Simulating Six Degree-of-freedom Motions)" 한국정밀공학회  0. 10 2003 [PDF]

• Jongwon Kim, Jae-Chul Hwang, Jin-Sung Kim, Cornel C. Iurascu, Frank C. Park, Young-man Cho "Analysis and Design of a New 6 D.O.F Full Tilting Parallel Mechanism" Proceedings of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechan  0. 10 2002 [PDF]

• 김종원, 황재철, 김진성, Frank C. Park, 조영만 "The Eclipse-II Parallel Mechanism for Motion Simulator" 한국공작기계협회  0. 10 2002 [PDF]

• 김종원, 박종우, 황재철 "Parallel Mechanism Structure For Controlling Three-Dimensional Position And Orientation" 00809545.0  

• 김종원, 박종우,황재철 "Parallel Mechanism Structure For Controlling Three-Dimensional Position And Orientation" 09/857,462  

• 김종원, 박종우, 황재철 "Parallel Mechanism Structure For Controlling Three-Dimensional Position And Orientation" PCT/KR00/01021  

• 김종원, 박종우, 황재철 "3차원상의 위치 및 자세 제어를 위한 병렬 기구 구조(Parallel Mechanism Structure for Controlling of 3-Dimensional Position and Orientation)" 10-2000-0034096  

• 김종원, 정재일, 인우성 "평면 고속 이송 병렬기구" 제10-2008-0024934  

• 김종원, 박종우, 황재철 "Parallel Mechanism Structure For Controlling Three-Dimensional Position And Orientation" 2001-557358  


4. Researcher



Ph.D : Sunho Kim, Woosung In, Dongsu Jeon