Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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The Eclipse-II Parallel Mechanism for Motion Simulators

  • Kim, Jongwon (School of Mechanical and Aerospace Engineering Seoul National University) ;
  • Hwang, Jae-Chul (School of Mechanical and Aerospace Engineering Seoul National University) ;
  • Kim, Jin-Sung (School of Mechanical and Aerospace Engineering Seoul National University) ;
  • Park, Frank C. (School of Mechanical and Aerospace Engineering Seoul National University) ;
  • Cho, Young-Man (School of Mechanical and Aerospace Engineering Seoul National University)
  • Published : 2002.10.01
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Abstract

We present the analysis and design of a new six degree-of-freedom parallel mechanism, Eclipse-II, which can be used as a basis for general motion simulators. This mechanism allows x, y and z-axis translations and a, b and c-axis rotations. Most significantly, it presents the advantage of enabling continuous 360 degrees spinning of the platform. We first describe the computational procedures for the forward and in inverse kinematics of the Eclipse-II. Next, the complete singularity analysis is presented for the two cases of end-effector and actuator singularities. Two additional actuators are added to the original mechanism to eliminate both types of singularities with in the workspace. Some practical aspects of the prototype development are introduced.

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