Mechatronic Systems for a Six Degree-of-Freedom (6-DOF) Shaking Platform

Student Team

Alex He; Simran Jakate; Alina Zahra

Advisor(s)

Dr. Jingang Yi

Abstract

This project presents TORO-VR, a six-degree-of-freedom (6-DOF) racing simulation platform designed to deliver an immersive, high-performance driver-in-the-loop (DiL) experience at a significantly reduced cost compared to commercial systems. Traditional motion simulators are often prohibitively expensive, ranging from $7,000 to over $30,000, limiting accessibility for research and training applications. TOROVR addresses this gap by providing a professional-grade simulation environment for under $3,800 while maintaining high fidelity in motion reproduction. The system utilizes a hexapod architecture driven by six 750W servo motors to achieve full 6-DOF motion, including surge, sway, heave, roll, pitch, and yaw. Real-time feedback across all axes enables accurate replication of vehicle dynamics. Integration with VR technology and racing peripherals enhances immersion, while FlyPT Mover software synchronizes platform motion with in-game telemetry. Custom motion cueing algorithms convert telemetry data into responsive physical movements, minimizing motion sickness and maintaining alignment with the user’s visual horizon. Design goals included achieving up to 0.5 g acceleration, supporting a maximum payload of 200 lbs, and providing ±10–15° rotational motion. Structural and kinematic analyses were conducted using MATLAB and SolidWorks to optimize actuator geometry and ensure safe operation under dynamic loads. The system incorporates welded steel framing, CNC-machined components, and modular electrical configurations for reliability and maintainability. Experimental results demonstrate strong synchronization between simulated and physical motion, with smooth transitions and low latency. The platform successfully replicates realistic driving conditions, enhancing user immersion. Future work includes integrating tactile feedback systems and vestibular stimulation to further improve realism. Overall, TORO-VR provides a scalable, cost-effective solution for advanced racing simulation and driver training applications.

Discipline(s)

Mechanical and Aerospace Engineering

Theme

Advanced Manufacturing, Fabrication, and Instrumentation Systems

Poster Number

170