Performance Analysis of 6-RRS Over-redundant Actuation Flight Simulator

doi:10.3901/JME.2016.01.034

Abstract

Abstract: A novel type of flight simulator with 6-RRS over-redundant actuation spherical parallel manipulator is proposed. It has 3 rotational degrees of freedom, 6 actuators and 3 redundant actuators. Two totally same spherical parallel manipulators consist of the flight simulator. It has one fixed base in general and one moving platform. The whole motive volume is served as the flight simulator’s capsule. The 6-RRS spherical parallel manipulator is driven by an electric servo-system that overcomes the drawbacks of hydraulic servo-system. It has advantage on workspace and actuation. The analysis of kinematics and performance analysis of the 6-RRS spherical parallel manipulator are given out, including Jacobian matrix and stiffness analysis, performance of dexterity and singularity.

Key words: flight simulator, Jacobian matrix, parallel manipulator, spherical parallel manipulator, stiffness analysis

CLC Number:

TH112

ZHOU Changchun, FANG Yuefa, YE Wei, WANG Congzhe. Performance Analysis of 6-RRS Over-redundant Actuation Flight Simulator[J]. Journal of Mechanical Engineering, 2016, 52(1): 34-40.

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