Dian Li, Sheng Guo, Haibo Qu, Guanyu Huang, and Fuqun Zhao
Motion simulator, parallel mechanism, kinematics, optimization, simulation
This paper proposed a novel 6-DOF parallel mechanism, which can be used as a motion simulator. Large posture and high attitude angle motion can be obtained with a new configuration, which makes it possible for the proposed mechanism to simulate more complex motions than traditional mechanisms. A particular analysis including DOF, kinematics, workspace, Jacobian and stiffness is discussed in detail. A multi-objective optimization case has also been carried out using global stiffness, workspace volume and mechanism’s overall volume as indexes. At last, a virtual prototype of the proposed mechanism is established to simulate large attitude angle movements. I addition, the results are verified by the forward kinematics solution. A prototype made by a 3D printer is also presented.
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