Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation
Abstract In the context of emergency rescue helicopter flight training, where suspended motion mechanisms are crucial, this study presents the design of a suspended three-degree-of-freedom motion mechanism aimed at replicating yaw, roll, and pitch motions within the simulation cabin. The kinematic r...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2025-03-01
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| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-025-89278-5 |
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| Summary: | Abstract In the context of emergency rescue helicopter flight training, where suspended motion mechanisms are crucial, this study presents the design of a suspended three-degree-of-freedom motion mechanism aimed at replicating yaw, roll, and pitch motions within the simulation cabin. The kinematic relationship between the moving platform in drive space, joint space and platform attitude is analyzed, and the Lagrangian method is used to establish the dynamic equations and solve the driving moment of the mechanism; The active branch is set to position mode to provide accurate position output, and the passive branch is set to force control mode to improve the force distribution problem of the branch and improve the overall motion coordination of the mechanism. Position control and force control complement each other to achieve force-position hybrid control, improve the stability of the motion system, optimize the dynamic performance, and provide a new idea for the design of this type of spatial redundant drive mechanism. |
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| ISSN: | 2045-2322 |