Kinematics Rods of Simulator-Hexapod

Abstract

Purpose: To develop mathematical model of the kinematic parameters of motion rods of hexapod at the maneuver of type “pitch”. Methodology: The motion of hexapod platform was generated based on the pole translational equation of motion and rotational motion via angles of Euler-Krylov. Modelling the platform’s trajectory of type "pitch" was done based on control of coordinate positions. The movement of each rods of hexapod around a motionless axis was presented by two angles of Euler. Results: Are obtained the mathematically models of kinematic parameters of rods the hexapod, when performing by a platform of any complex maneuver. Angular velocity and angular acceleration is attached as projections on the fixed coordinate system and on the coordinate system is attached to the moving rods. Was presented the algorithm for research of kinematics the rods of a hexapod. Calculations for design of the standard avia-exercise machine of firm “ANTK Antonov” have confirmed a possibility of obtaining kinematic parameters of the rods of hexapod when performing maneuver like "pitch". Has been set the maximum of accelerations load on the crew at the maximum admissible angles of maneuver types "pitch" of the simulator-hexapod. Conclusion: Was confirmed possibility of modelling a complex maneuver of simulator-hexapod at permissible acceleration load on the crew. The process of obtaining kinematic parameters has been necessary for dynamics problems.