Design of A 6-DOF Hydraulic Vehicle Driving Simulator

This paper describes the guideline of mechanical design and control of a 6-DOF hydraulic vehicle simulator. The key technology in a driving simulator is the real-time vehicle Dynamic simulation. The driver's interaction with the system through the Steering wheel and gas and brake pedals is captured by Logitech gaming kit. The game sends its movement signals which are converted into inputs to the underlying vehicle dynamic model. The equations of motion of the vehicle dynamic model is developed and implemented in real time, so that the actuators underneath the Stewart platform can perform the pushes or pulls that mimic various driving conditions. In the meantime, the results provide large excursions in longitudinal and lateral directions that are used to give accelerations and motions cues to the driver inside.