Abstract
This paper presents the workspace analysis of a 3-PSP motion platform to be used as a flight simulator . In this design, all passive joints are kept on the base plate rather than under the moving platform, thus ensuring a secure and easy to construct configuration. With a proper description of the constrained rotation of the platform, the inverse kinematics can be solved in an analytical form. The resulting workspace shows varying tilting amplitudes with respect to the vertical displacement, the azimuth and the actuator strokes.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Vermette, Y., Baron, L.: Planar 3 degrees of freedom parallel manipulator with an articulated platform featuring a planetary gearbox. In: Proceedings. of the 13th World Congress on the Theory of Machines and Mechanisms, IFToMM, June 19–25, Guanajuato, Mexico (2011)
Pouliot, N., Gosselin, C., Nahon, N.: Motion simulation capabilities of three-degree-of-freedom flight simulators. AIAA J. Aircr. 35(3), 9–17 (1998)
Hao, Q., Wang, L., Guan, L., Liu, X.-J.: Dynamic analysis of a novel 3-PSP 3-DOF parallel manipulator. In: Proceeding of the International Conference on Reconfigurable Mechanisms and Robots, ASME/IFToMM, pp. 309–314 (2009)
Chen, C., Huang, Y., Cheng, X. and Guo, S.: Study and analysis of the 3-PRS parallel mechanism. In: IEEE International Conference on Mechatronics and Automation, pp. 1515–1520 (2009)
Nia, P.M., Tootoonchi, A.A.: Dynamics modeling of 3-PSP parallel manipulator using natural orthogonal complement method (NOC). In: 17th Annual Conference on Mechanical Engineering, University of Tehran, ISME-2009-3028 (2009)
Di Gregorio, R., Parenti-Castelli, V.: Position analysis in analytical form of the 3-PSP mechanism. ASME J. Mech. Design 123, 51–57 (2001)
Rezaei, A., Akbarzadeh, A., Aahmoodi, P., Akbarzadeh, M.: Position, Jacobian and workspace analysis of a 3-PSP spatial parallel manipulator. Robot. Comput.-Integr. Manuf. 29, 158–173 (2013)
Baron, L.: Kinematic analysis of a 3-PSP spatial motion platform. In: ASME 2015 International Design Engineering Technical Conferences, IDETC/CIE 2015, August 2–5, Boston, USA (2015)
Bonev, I.: Geometric analysis of parallel mechanisms. Ph.D. Thesis, Laval University, Quebec, Quebec, Canada, November, 174 p. (2002)
Gosselin, C., Angeles, J.: Singularity analysis of closed-loop kinematic chains. IEEE Trans. Robot. Autom. 6(3), 281–290 (1990)
Acknowledgements
The author would like to acknowledge the financial support provided by NSERC (National Sciences and Engineering Research Council of Canada) under grant OGPIN-203618 and the CAE R. Fraser Elliott Modeling and Simulation Laboratory. Thanks also go to Master of Engineering student Jaime Andres Pacheco for developing programs enabling the validation of the kinematic model and the control of the motion platform.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Baron, L. (2018). Workspace Analysis of a 3-PSP Motion Platform. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-56802-7_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-56801-0
Online ISBN: 978-3-319-56802-7
eBook Packages: EngineeringEngineering (R0)