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Control system development of a hexarot-based high-G centrifugal simulator
conference contribution
posted on 2019-02-01, 00:00 authored by Siamak Pedrammehr, Mohammadreza Chalak Qazani, Houshyar AsadiHoushyar Asadi, Saeid NahavandiHexarot 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
Event
IEEE Industrial Electronics Society. Conference (20th : 2019 : Melbourne, Vic.)Series
IEEE Industrial Electronics Society ConferencePagination
78 - 83Publisher
Institute of Electrical and Electronics EngineersLocation
Melbourne, Vic.Place of publication
Piscataway, N.J.Publisher DOI
Start date
2019-02-13End date
2019-02-15ISBN-13
978-1-5386-6376-9Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2019, IEEEEditor/Contributor(s)
[Unknown]Title of proceedings
ICIT 2019 : Proceedings of the 2019 IEEE International Conference on Industrial TechnologyUsage metrics
Categories
Keywords
Parallel mechanismhexarotSimMechanicscontrolPIDScience & TechnologyTechnologyEngineering, Electrical & ElectronicEngineeringGENETIC ALGORITHMPOSITION CONTROLPARALLEL ROBOTHEXAPOD TABLEMOTIONIDENTIFICATIONKINEMATICSVIBRATIONMechanical Engineering not elsewhere classifiedMathematical Sciences not elsewhere classified
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