Kinematics and dynamics of a parallel manipulator with a new architecture

Authors:
A. Fattah;G. Kasaei
Affiliations:
Department of Mechanical Engineering, Isfahan University of Technology, Isfahan (Iran) 84154 fattah@cc.iut.ac.ir;Department of Mechanical Engineering, Isfahan University of Technology, Isfahan (Iran) 84154
Venue:
Robotica
Year:
2000

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Abstract

In this paper, the kinematics and dynamics of a parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulator project is studied. This manipulator with three independent degrees of freedom consists of a moving platform connected to a based platform by means of three legs. Kinematic solutions for this manipulator at position, velocity and acceleration levels are obtained. Moreover, the dynamical equations of motion of the manipulator are determined using Newton-Euler's equations and applying the natural orthogonal complement (NOC) method. Using kinematics and dynamics and also performing simulation for different manoeuvres of moving platform, the motion and the actuator forces of the legs are obtained.