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Development of a new 6-DOF parallel-kinematic motion simulator (ICCAS 2008)

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3 Author(s)
Pham Ngoc ; Sch. of Mech. & Autom. Eng., Kyungnam Univ., Masan ; Joon-Ho Kim ; Han-Sung Kim

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the base by six PUS (Prismatic-Universal-Spherical) serial chains. Comparing with the well-known Stewart-Gough platform-type motion simulator, it uses commercialized linear actuators mounted on the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of lower inertia and easier fabrication over a 6-UPS counterpart. The inverse position, Jacobian and workspace analyses are performed. Using inclined arrangement of universal joints, the workspace is greatly increased. The prototype motion simulator and real-time controller using xPC have been developed. Basic six-axis motion test with the ride of single operator has been successfully performed.

Published in:

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Date of Conference:

14-17 Oct. 2008