| In this thesis, a novel 6 degree-of-freedom parallel mechanism is evaluated as a flight simulator motion base. The mechanism consists of three fixed-length legs, each supported by a three-wheeled mobile robot. The three legs support a platform, which acts as the end-effector of the mechanism. Thus, the mechanism has the advantage of portability and simple design, because of the specific actuating system. Two different designs are evaluated: one with ball joints at the upper ends of the legs and revolute joints at the lower ends and one with the opposite configuration. The inverse kinematics and inverse dynamics analysis of the mechanism, including its actuation system, is conducted. Our simulations lead us to conclude that the configuration with the ball joints at the lower ends of the legs performs better. The mechanism is then evaluated as a motion base for a flight simulator, using typical aircraft maneuvers. Certain problems are observed that make this application questionable. However, the mechanism shows potential as a motion base for a driving simulator, which is certainly worth exploring further. |
