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R-3RPS Robot-Based Mathematical Modeling for a Military Flight Simulator

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11745))

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Abstract

In the present article we explain the analytical deduction of the kinematic model of a flight simulator, based on a 3 RPS parallel robot with rotation of its lower base, through the resolution of the inverse and direct kinematic problems. The trajectories of the illusions of the simulator were generated with the use of interpolation of speeds and angular accelerations of the final effector, in addition to the operating specifications of the manipulator. For the verification of results, an interface was implemented with the use of MATLAB to simulate the trajectories generated in the obtained model and to verify the analytical kinematic relations proposed together with the simulation in ANSYS. The results obtained from the interface in comparison to the mechanical simulation showed a minimum margin of error between them that reached 0.1% in the worst case at the position of the upper vertices of the simulator.

This paper is part of the project “Simulador de desorientación espacial para seguridad aérea y entrenamiento de pilotos de las FF.AA” which belongs exclusively to Universidad de las Fuerzas Armadas ESPE. The affiliations of the Universitat Politècnica de Catalunya and Escuela Politécnica Nacional are exclusively of the corresponding author Dr. Wilbert G. Aguilar. The payment of the paper registration was funded exclusively by Universidad de las Fuerzas Armadas ESPE.

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Author information

Authors and Affiliations

  1. CICTE, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Cristhian Guerrón, Wilbert G. Aguilar, Rolando P. Reyes Ch., Nicolás Pinto, Santiago Chamorro & Manolo Paredes

  2. FIS, Escuela Politécnica Nacional, Quito, Ecuador

    Wilbert G. Aguilar

  3. GREC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Cristhian Guerrón
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  2. Wilbert G. Aguilar
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  3. Rolando P. Reyes Ch.
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  4. Nicolás Pinto
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  5. Santiago Chamorro
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  6. Manolo Paredes
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Guerrón, C., Aguilar, W.G., Reyes Ch., R.P., Pinto, N., Chamorro, S., Paredes, M. (2019). R-3RPS Robot-Based Mathematical Modeling for a Military Flight Simulator. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_45

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  • DOI: https://doi.org/10.1007/978-3-030-27529-7_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27528-0

  • Online ISBN: 978-3-030-27529-7

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