Dynamics of a 3-DOF parallel mechanism used for orientation applications

Itul, T.; Pîslă, Doina

doi:10.1109/aqtr.2008.4588862

Cited by 14 publications

(11 citation statements)

References 5 publications

(5 reference statements)

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“…Moreover, Z U was shifted by h as shown in Equation ( 4). Then, the relationship of coordinate U and coordinate U was described by Equation (5). The distance from the center of mass to the three vertices was kept in the coordinate U .…”

Section: Motion Trajectorymentioning

confidence: 99%

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Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Pan

Sun

et al. 2021

Applied Sciences

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This paper developed a rotatable multi-axis motion platform combined with virtual reality (VR) immersion for flight simulation purposes. The system could simulate the state of the flight operation. The platform was mainly comprised of three crank linkage mechanisms to replace an expensive six degrees of freedom (DoF) Stewart platform. Then, an independent subsystem which could rotate ±180° was installed at the center of the platform. Therefore, this platform exhibited 4-DoF movement, such as heave, roll, pitch, and yaw. In the servo motor control unit, Visual Studio C# was applied as the software to establish a motion control system to interact with the motion controller and four sets of servo motors. Ethernet Control Automation Technology (EtherCAT) was utilized to communicate the commands and orders between a PC and each servo motor. The optimum controller parameters of this system were obtained using Simulink simulation and verified by experiment. The multiple sets of servo motors and crank linkage mechanisms were synchronized with flight VR imagery. For VR imagery, the software Unity was used to design the flying digital content. The controller was used to transmit the platform’s spatial information to meet the direction of the pilot commands and to compensate the direction of the deviation in spatial coordinates. To achieve synchronized response and motion with respect to the three crank linkage mechanism platform and VR imagery on the tester’s goggle view, the relation of the spatial coordinate of VR imagery and three crank linkage mechanisms was transformed to angular displacement, speed and acceleration which were used to command the motor drive system. As soon as the position of the VR imagery changed, the computer instantly synchronized the VR imagery information to the multi-axis platform and performed multi-axis dynamic motion synchronously according to its commanded information. The testers can thus immerse in the VR image environment by watching the VR content, and obtain a flying experience.

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Section: Motion Trajectorymentioning

confidence: 99%

“…A few years later, a combination of parallel and series types were proposed to develop a quite wide range of applications in 1990 [3]. Research about the platform has been since developed in many ways [4,5].…”

Section: Introductionmentioning

confidence: 99%

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Pan

Sun

et al. 2021

Applied Sciences

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“…The power consumption of the parallel solar tracker is minimized by mass and inertia reduction. In Itul and Pisla, 21 kinematics and dynamics of a 3-DOF parallel mechanism for orientation purposes is described, mentioning the sun tracking as one of its possible applications. Same authors present a 2-DOF parallel mechanism with two linear actuators and a passive limb consisting of a universal joint.…”

Section: Introductionmentioning

confidence: 99%

Design of a solar tracking parallel mechanism with low energy consumption

Altuzarra

Macho

Aginaga

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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Solar trackers are devices that improve the efficiency of photovoltaic collectors increasing the area exposed to direct radiation of the sun. The main drawback of these kinds of devices is that they have to consume certain energy in order to move the collectors following the sun trajectory. This work presents the detailed design of a mechanism with parallel kinematics architecture able to accurately follow the sun motion, which has been designed with the aim of minimizing the energy consumption during its operation.

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“…In Mousazadeh et al, 8 a survey of the possible mechanism layouts for sun tracking is presented. This work shows that the most efficient device is the azimuth/elevation type: in Itul and Pisla 9 and Kulkarni et al, 10 it is possible to find two examples of this type of device. Alignment errors are generally more effective on the energy production of concentrator modules.…”

Section: Introductionmentioning

confidence: 99%

“…The azimuth and elevation angles are controlled by actuating two limbs (9,10) while the third one is passive (11); the actuation elements are applied to the lower arms attached to the fixed platform. Figure 2 shows the actuated angles b 1 and b 2 ; the azimuth (a) and elevation (z) angles define the orientation of the moving platform.…”

Section: Description Of the Structurementioning

confidence: 99%

Design and test of a parallel kinematic solar tracker

Mauro

Battezzato

Biondi

et al. 2015

Advances in Mechanical Engineering

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This article proposes a parallel kinematic solar tracker designed for driving high-concentration photovoltaic modules. This kind of module produces energy only if they are oriented with misalignment errors lower than 0.4°. Generally, a parallel kinematic structure provides high stiffness and precision in positioning, so these features make this mechanism fit for the purpose. This article describes the work carried out to design a suitable parallel machine: an already existing architecture was chosen, and the geometrical parameters of the system were defined in order to obtain a workspace consistent with the requirements for sun tracking. Besides, an analysis of the singularities of the system was carried out. The method used for the singularity analysis revealed the existence of singularities which had not been previously identified for this kind of mechanism. From the analysis of the mechanism developed, very low nominal energy consumption and elevated stiffness were found. A small-scale prototype of the system was constructed for the first time. A control algorithm was also developed, implemented, and tested. Finally, experimental tests were carried out in order to verify the capability of the system of ensuring precise pointing. The tests have been considered passed as the system showed an orientation error lower than 0.4°during sun tracking.

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Dynamics of a 3-DOF parallel mechanism used for orientation applications

Cited by 14 publications

References 5 publications

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Design of a solar tracking parallel mechanism with low energy consumption

Design and test of a parallel kinematic solar tracker

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