Kinematic index performance of two 6 - RUS parallel robots used as flight simulations

Clodoaldo Schutel Furtado Neto¹; Aní
bal Alexandre Campos Bonilla¹; Alexandre Reis²; Rodrigo Trentini³; Rüdiger Kutzner³

¹ Udesc; ² Universidade do Estado de Santa Catarina (UDESC), Centro de Artes (CEART); ³ University of Applied Sciences and Arts Hannover

doi:10.20906/CPS/COB-2015-0753

Resumo

Flight simulators are devices that help the flight crew training. Simulator main objective is is reduce operational costs, human and machine risks and recycling pilots under normal and adverse conditions, e.g. training at critical condition. The Universidade do Estado de Santa Catarina built a flight simulator based on 6-DoF axisymmetric parallel robot which incorporates virtual reality immersion environment. This flight simulator presents 6-RUS kinematic chain which is the second most common architecture for this application. Hunt proposed this chain architecture early in 1983. Parallel robots are closed-loop mechanisms that present good performance in terms of accuracy, rigidity and ability to manipulate large loads. This work aims to evaluate and compare the kinematic performance of 6- RUS parallel configuration robots using an algorithm based on parallel robot kinematics and then it is analyzed through a Computer Aided Engineering CAE software the obtained results and possible direct or inverse singularities closeness.

Palavras-chave: Parallel Robot; Flight Simulator; 6-RUS; Direct singularity; Inverse singularity