Dynamics modelling of a parallel flight simulator

Authors

  • Stefan Staicu
  • Constantin Ocnarescu
  • Liviu Ungureanu

Keywords:

connectivity relations, dynamics, flight simulator, parallel robot

Abstract

Recursive matrix relations for dynamics analysis of a parallel manipulator, namely the spatial flight simulator, is established in this paper. Knowing the general motion of the platform, the inverse dynamics problem is solved using an approach based on explicit equations of parallel robots dynamics. Finally, some simulation graphs for the input forces and powers are obtained.

References

TSAI, L-W., Robot analysis: the mechanics of serial and parallel manipulators, Wiley, 1999.

PLITEA, N., LESE, D., PISLA, D., VAIDA, C., Structural design and kinematics of a new parallel reconfigurable robot, Robotics and Computer-Integrated Manufacturing, 29, 1, pp. 219–235, 2013.

PISLA, D., ITUL, T., PISLA, A., GHERMAN, B., Dynamics of a Parallel Platform for Helicopter Flight Simulation Considering Friction, SYROM 2009, Springer, 2009, pp. 365–378.

MERLET, J-P., Parallel robots, Kluwer Academic, 2000.

G. GOGU, T2R1-type parallel manipulators with bifurcated planar-spatial motion, European Journal of Mechanics, A/Solids, 33, pp. 1–11, 2012.

STEWART, D., A Platform with Six Degrees of Freedom, Proc. Inst. Mech. Eng., 180, 1, pp. 371–386, 1965.

DI GREGORIO, R., PARENTI CASTELLI, V., Dynamics of a class of parallel wrists, ASME Journal of Mechanical Design, 126, 3, pp. 436–441, 2004.

PISLA, A., ITUL, T., PISLA, D., SZILAGHYI, A., Considerations upon the influence of manufacturing and assembly errors on the kinematic and dynamic behavior in a flight simulator Stewart-Gough platform, Mechanisms, Transmissions and Applications: Mechanisms and Machine Science, 3, Springer, 2012, pp. 215–223.

GWINNETT, J.E., Amusement devices, US Patent No. 1789680, 1931.

GALANOV, A.S., DIACIUN, V.C., Manipulator, URSS Patent No. 908589, 1982.

ANGELES, J., Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms, Springer, 2002.

STAICU, S., Méthodes matricielles en cinématique des mécanismes, UPB Scientific Bulletin, Series D: Mechanical Engineering, 62, 1, pp. 3–10, 2000.

DASGUPTA, B., MRUTHYUNJAYA, T.S., A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator, Mechanism and Machine Theory, 34, pp. 711–725, 1998.

TSAI, L-W., STAMPER, R., A parallel manipulator with only translational degrees of freedom, ASME Design Engineering Technical Conferences, Irvine, CA, 1996.

STAICU, S., LIU, X-J., LI, J., Explicit dynamics equations of the constrained robotic systems, Nonlinear Dynamics, 58, 1–2, pp. 217–235, 2009.

Published

2013-11-05

Most read articles by the same author(s)

1 2 > >>