Mechatronic Design of Redundant Robotic Systems for Captive Trajectory Simulation Applications

M. Ahmadi, A. Guigue, M. Gibeault, and F.C. Tang (Canada)


Redundant robots, mechatronic design, Captive Trajectory Simulation, wind tunnel testing.


This paper highlights the application and design process of a redundant robotic system, called “Captive Trajectory Simulation” (CTS) system, which operates inside a tri sonic wind tunnel. The CTS robot is used to manipulate models with respect to a parent aircraft model to either obtain aerodynamic coefficients at different positions and orientations, or to emulate the motion trajectory of objects released from an airplane. The main challenges faced by the mechatronic design loop, the motion optimization, and the control system architecture design are discussed.

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