Browse > Article

Development of a New 6-DOF Parallel-type Motion Simulator  

Kim, Han-Sung (경남대학교 기계자동화공학부)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.19, no.2, 2010 , pp. 171-177 More about this Journal
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
Parallel-kinematic motion simulator; 6-PSU parallel manipulator; Workspace analysis; Optimal design; Force transmission capability; Real-time controller;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Duffy, J., 1996, Statics and Kinematics with Application to Robotics, Cambridge University Press, New York, USA, pp. 89-91.
2 Kim, H. S. and Choi, Y. J., 2001, "Forward/Inverse Force Transmission Capability Analyses of Fully Parallel Manipulators," IEEE Transaction on Robotics and Automation, Vol. 17, No.4, pp, 526-530.   DOI   ScienceOn
3 Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, New York, USA, pp. 247-252.
4 Salcudean, S. E., Drexel, P. A., Ben-Dov, D., Taylor, A. J., and Lawrence, P. D., 1994, "A Six Degree-offreedom, Hydraulic, One Person Motion Simulator," IEEE Int. Conf. on Robotics and Automation, pp. 2437-2443, San Diego, May, 8-13.
5 Rao, A. B., Saha, S. K., and Rao, P. V. M., 2006, "Dynamics Modelling of Hexaslides using the Decoupled Natural Orthogonal Complement Matrices," Multibody System Dynamics, Vol. 15, pp, 159-180.   DOI   ScienceOn
6 Kim, J. P. and Ryu, J. H., 2002, "Inverse Kinematic and Dynamic Analyses of 6-DOF PUS Type Parallel Manipulators," KSME International Journal, Vol. 16, No.1, pp. 13-23.   과학기술학회마을   DOI
7 ParalleMIC, n,d., "What's New?," viewed 1 August 2009, .
8 Honegger, M., Codourey, A., and Burdet, E., 1997, "Adaptive Control of the Hexaglide, a 6 DOF Parallel Manipulator," IEEE Int. Conf. on Robtoics and Automation, pp. 543-548, New Mexicon, April.
9 Koevermans, W. P., 1988, "Design and Performance of the Four D.O.F. Motion Systems of the NLR Research Flight Simulator," AGARD Conf. Proc. No. 198, Flight Simulation, pp. 17-1-17-11, La Haye, October, 20-23.
10 Yang, H., Lee, J., and Xu, Y., 2004, "Design of the Parallel Manipulator for Minimizing the Extreme Articular Force in the Specific Translation Trajectory," Transaction of the KSMTE, Vol. 13, No. 3, pp. 68-75.   과학기술학회마을
11 Cappel, K. L., 1967, Motion Simulator, United States Patent: 3295224.
12 Merlet, J. P., 2006, Parallel Robots, Springer, Dordrecht, Netherlands, pp. 77-79,
13 Bertollini, G. P., Johnston, C. M., Kuiper, J. W., Kukula, J. C., Kulczycka, M. A., and Thomas, W. E., 1994, "The General Motors Driving Simulator," SAE transactions, Vol. 103, No. 6, pp, 54-67.
14 Stewart, D" 1965, "A Platform with Six Degrees of Freedom," Proceedings of the Institution of Mechanical Engineers, Vol. 180, Pt, 1, No, 15, pp. 371-385.