Design and dynamics modeling of a novel 2R1T 3-DOF parallel motion simulator

• Published in: Journal of the Brazilian Society of Mechanical Sciences and Engineering Vol. 45; no. 4
• Main Authors: Chen, Ziming, Song, Jingke, Li, Nan, Yan, Wenjiang, Zhao, Chen
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.04.2023; Springer Nature B.V
• Subjects: Acceleration; Constraint modelling; Control simulation; Coulomb friction; Dynamic models; Engineering; Jacobi matrix method; Jacobian matrix; Kinematics; Matlab; Mechanical Engineering; Motion simulators; Parallel degrees of freedom; Pitch (inclination); Rolling motion; Simulation; Technical Paper; Friction model; Parallel motion simulator; Co-simulation; Dynamic modeling
• ISSN: 1678-5878; 1806-3691
• DOI: 10.1007/s40430-023-04024-0

In this paper, a novel 3-DOF parallel motion simulator with two rotative and one translatory DOF is proposed and analyzed. The simulator can complete three kinds of motion: lift, roll and pitch. It can be used to simulate aircraft, ships, driving scenes, or other civil entertainment equipment, such as dynamic simulation seating chairs. Using vector method to analyze the velocity and acceleration of each component of the simulator, considering Coulomb friction to model the friction in joints, and depending on the Newton–Euler method to establish a general form of the dynamic model, the constraint force of each joint can be calculated, which supplies a theoretical fundament for model machine design. Meanwhile, MATLAB and RecurDyn software were used to verify the results by co-simulation. However, the general form equation established in-line with the Newton–Euler method has lower efficiency and cannot be used in the design of dynamics controllers. Therefore, the Jacobian matrix of platform and limbs are derived through the analysis of constraint screw and kinematics of mechanism, and the dynamic model of the simulator is gained in accordance with the principle of virtual work. Finally, based on the MATLAB / Simscape platform, the control system is built for IDC control simulation verification.