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

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.