Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Development of a New 6-DOF Parallel-type Motion Simulator

6자유도 병렬형 모션 시뮬레이터 개발

  • 김한성 (경남대학교 기계자동화공학부)
  • Received : 2009.08.14
  • Accepted : 2010.01.27
  • Published : 2010.04.15
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Abstract

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.

Keywords

Acknowledgement

Supported by : 경남대학교

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