Design of a 6 D.O.F. Flight Simulator Based on a Full Spinning  Parallel Mechanism Platform

Kim, Sun Ho; Shin, Hyun Pyo; In, Woo Sung; Kim, Jong-Won

doi:10.2514/6.2005-6105

Cited by 3 publications

(1 citation statement)

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“…This feature makes the parallel-link used in specialized areas like aircraft simulator or medical operation robots. [1,2] The closed-form structure, however, hinders independent motion of each link. Therefore, the parallel mechanism has a smaller work space and kinematic analysis is more complicated.…”

Section: -Sps Parallel Redundant Motion Mechanismmentioning

confidence: 99%

Kinematics Optimization of a 3-SPS Parallel Redundant Motion Mechanism Using Conformal Geometric Algebra

Park

Kim

Jeong

2015

AMM

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In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.

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Section: -Sps Parallel Redundant Motion Mechanismmentioning

confidence: 99%