Pedrammehr, Siamak, Chalak Qazani, Mohamad Reza, Asadi, Houshyar, and Nahavandi, Saeid (2019) Control System Development of a Hexarot-Based High-G Centrifugal Simulator. In: Proceedings of the IEEE International Conference on Industrial Technology. pp. 78-83. From: ICIT 2019: IEEE International Conference on Industrial Technology, 13-15 February 2019, Melbourne, VIC, Australia.

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Abstract

Hexarot is a type of the axisymmetric parallel mechanisms which has become increasingly popular for use as high-G simulators. This paper presents the design and control system development of a hexarot simulator for high acceleration motions. The kinematic formulation of the mechanism is developed for the control system development of the manipulator. PID controller is then designed to extract the moments of active joints based on the inverse kinematics of the mechanism. The linear and angular positions of the manipulator are investigated for different frequencies. The obtained results show that the under-study mechanism is appropriate for a high-G motion simulator.

Item ID:	87058
Item Type:	Conference Item (Research - E1)
ISBN:	978-1-5386-6376-9
Copyright Information:	© 2019 IEEE.
Date Deposited:	27 Oct 2025 23:30
FoR Codes:	40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400705 Control engineering @ 100%
SEO Codes:	28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280110 Expanding knowledge in engineering @ 100%
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