Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Abstract

Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations

“…It tends to have higher speed, acceleration, stiffness and payload capacity, lower inertia property, at the cost of limited reachable workspace and many singularity configurations, by comparison with its counterpart serial robot in the similar conditions [1,2]. Parallel manipulators have received increased interest due to their intrinsic advantages and are widely employed in various industrial applications: pick-and-place robots [3,4], flight simulators [5], multi-axis parallel kinematic machine tools [6,7], haptic devices [8] and medical robots [9]. A systematic design of a group of novel parallel architectures is the primary step in robotics.…”

Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains

“…However, the additional degrees of freedom increase the complexity of the kinematic model and control framework. Zarkandi [15] discusses the problem of dynamic modeling and power optimization for a parallel platform. Han et al.…”

“…However, the additional degrees of freedom increase the complexity of the kinematic model and control framework. Zarkandi [15] discusses the problem of dynamic modeling and power optimization for a parallel platform. Han et al [16] propose a unified kinematic modeling method for reconfigurable landing and roving probes with full consideration of six-dimensional foot-terrain interaction.…”

Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions

“…Parallel Manipulators (PMs) have gained a wide attention from the research fraternity due to the numerous advantages they offer over their serial counterparts like higher rigidity, better load carrying capacity, precise positioning, higher payload to weight ratio, higher kinematic and better dynamic features. 1,2 These traits allow the PMs to be used in numerous practical applications like in manufacturing, 3 lifting mechanisms, 4,5 space technologies, 6 simulators, 7,8 friction stir welding machines, 9 etc. In recent decades, it has been found that 3-DoF PMs are relevant to substitute 6-DoF PMs in most of the applications because of their advantages such as lower design and manufacturing cost, as well as a simpler architecture.…”