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Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Published online by Cambridge University Press:  16 June 2021

Soheil Zarkandi Open the ORCID record for Soheil Zarkandi [Opens in a new window]
Soheil Zarkandi*
Affiliation:
Department of Mechanical Engineering, Babol Noshirvani University of Technology, Babol, Iran
*
*Corresponding author. Email: [email protected]
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Abstract

Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

Keywords

flight simulatorparallel manipulator4 DOFsdynamicsEuler–Lagrange methodSimMechanicspower optimizationgolden eagle optimizer
Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 646 - 671
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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