Kinematics analysis of a high dynamic serial-parallel hybrid flight simulator

To avoid the kinematics singularity and thus to implement high dynamic and large-angle maneuvering flight simulation, a kind of serial-parallel hybrid flight simulator are proposed featuring redundant manipulator mechanism. For direct kinematics of the serial-parallel hybrid flight simulator, a dual-Euler method is adopted to solve the expressions of attitude angles, thus computation singularity of all-attitude angles is overcome. For inverse kinematics problem of the serial-parallel hybrid flight simulator, pseudo-inverse and gradient projection methods are used to obtain optimal velocity solution. Then, a velocities compensation unit is designed. When some of the joint velocities are in saturation other joints compensate for the lack of the velocity and the velocity in the task space remains unchanged. Without the compensation the task space error would appear. The proposed inverse kinematics algorithm can achieve desired position and attitudes, as well as can avoid kinematics singularity.