| Summary: | 碩士 === 國立交通大學 === 機械工程系 === 90 === In most motion simulation systems, the hydraulics is utilized to be the driving power, but the influence of dynamics of hydraulic system is ignored. Hence, a 3 DOF flight simulator was constructed with the hydraulic power system, and the hydraulic errors are explored in this research.
In this thesis, the workspace and singular points of the manipulator were explored first for designing suitable motions for the simulator. For hydraulics, the ARX method was used to identify the dynamic models of three hydraulic systems (including hydraulic cylinders and proportional valves). Finally, the designed flight tasks were simulated with system model which contained the dynamics of hydraulics for predicting the errors of acceleration and position caused by hydraulics in reality. And then the influence of hydraulics on manipulator motions was evaluated by discussing human sense of acceleration and position accuracy.
The purpose of this thesis is not only to emphasize the influence of hydraulics on motion simulation system, but also to provide a useful reference for platform motion designers by constructing a complete flight simulator system.
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