Title of article :
Design and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
Author/Authors :
Jaberi، Amir نويسنده K.N. Toosi University of Technology Jaberi, Amir , Nahvi، Ali نويسنده Faculty of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran; , , Hasanvand، Milad نويسنده K.N. Toosi University of Technology Hasanvand, Milad , Tale-Masouleh، Mehdi نويسنده He is currently a faculty member in the Faculty of New Sciences and Technology at the University of Tehran , , Arbabtafti، Mohammadreza نويسنده Shahid Rajaee Teacher Training University Arbabtafti, Mohammadreza , Yazdani، Mojtaba نويسنده K.N. Toosi University of Technology Yazdani, Mojtaba
Issue Information :
فصلنامه با شماره پیاپی 0 سال 2015
Abstract :
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inverse and the forward kinematics problems, workspace determination, singularity, and kinematic sensitivity analysis. The workspace of the parallel part of the mechanism is obtained by interval analysis. Moreover, using elimination theory, a univariate expression representing the forward kinematics solution of the parallel part is obtained.
Journal title :
International Journal of Robotics (Theory and Applications)
Journal title :
International Journal of Robotics (Theory and Applications)
