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Control system development of a hexarot-based high-G centrifugal simulator

Version 2 2024-06-06, 10:34
Version 1 2019-07-17, 10:06
conference contribution
posted on 2024-06-06, 10:34 authored by Siamak Pedrammehr, Mohammad Reza Chalak Qazani, Houshyar AsadiHoushyar Asadi, Saeid Nahavandi
Hexarot is a type of the axisymmetric parallel mechanisms which has become increasingly popular for use as high-G simulators. This paper presents the design and control system development of a hexarot simulator for high acceleration motions. The kinematic formulation of the mechanism is developed for the control system development of the manipulator. PID controller is then designed to extract the moments of active joints based on the inverse kinematics of the mechanism. The linear and angular positions of the manipulator are investigated for different frequencies. The obtained results show that the under-study mechanism is appropriate for a high-G motion simulator.

History

Volume

2019-February

Pagination

78-83

Location

Melbourne, Vic.

Start date

2019-02-13

End date

2019-02-15

ISSN

2643-2978

ISBN-13

978-1-5386-6376-9

Language

eng

Publication classification

E1 Full written paper - refereed

Copyright notice

2019, IEEE

Editor/Contributor(s)

[Unknown]

Title of proceedings

ICIT 2019 : Proceedings of the 2019 IEEE International Conference on Industrial Technology

Event

IEEE Industrial Electronics Society. Conference (20th : 2019 : Melbourne, Vic.)

Publisher

Institute of Electrical and Electronics Engineers

Place of publication

Piscataway, N.J.

Series

IEEE Industrial Electronics Society Conference