R-3RPS Robot-Based Mathematical Modeling for a Military Flight Simulator

摘要

In the present article we explain the analytical deduction of the kinematic model of a flight simulator, based on a 3 RPS parallel robot with rotation of its lower base, through the resolution of the inverse and direct kinematic problems. The trajectories of the illusions of the simulator were generated with the use of interpolation of speeds and angular accelerations of the final effector, in addition to the operating specifications of the manipulator. For the verification of results, an interface was implemented with the use of MATLAB to simulate the trajectories generated in the obtained model and to verify the analytical kinematic relations proposed together with the simulation in ANSYS. The results obtained from the interface in comparison to the mechanical simulation showed a minimum margin of error between them that reached 0.1% in the worst case at the position of the upper vertices of the simulator.