Workspace Analysis of a 3-PSP Motion Platform
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.
KeywordsWorkspace 3-PSP Parallel manipulator Flight simulator
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.
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