Design and kinematic analysis of a 4-DOF serial-parallel manipulator for urban bus driving simulator

Author

Jaberi, A. ; Nahvi, A. ; Hasanvand, M. ; Tale Masouleh, Mehdi ; Arbabtafti, M.R. ; Yazdani, Mojtaba ; Lagha, M. ; Hemmatabadi, M. ; Samiezadeh, S.

Author_Institution

Virtual Reality Lab., K.N. Toosi Univ. of Technol., Tehran, Iran

fYear

2013

fDate

13-15 Feb. 2013

Firstpage

407

Lastpage

412

Abstract

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for urban bus driving simulators. Necessary 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 forward kinematic problems, workspace determination, singularity and kinematic sensitivity analysis. The workspace of the parallel part of the mechanism is obtained by means of interval analysis. Moreover, using elimination theory, a univariate expression representing the forward kinematic solution of the parallel part is obtained.

Keywords

control engineering computing; digital simulation; manipulator kinematics; 4-DOF serial parallel manipulator; design analysis; forward kinematic problems; human motion perception organs; inverse kinematic problems; kinematic properties; kinematic sensitivity analysis; singularity sensitivity analysis; urban bus driving simulator; urban bus driving simulators; workspace determination; Jacobian matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2013 First RSI/ISM International Conference on

Conference_Location

Tehran

Print_ISBN

978-1-4673-5809-5

Type

conf

DOI

10.1109/ICRoM.2013.6510142

Filename

6510142