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...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2025-03-01
|
| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-025-89278-5 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850030045354000384 |
|---|---|
| author | Tao Liu Jicheng Ding Jiayue Xu Dingxuan Zhao Xianping Qiu |
| author_facet | Tao Liu Jicheng Ding Jiayue Xu Dingxuan Zhao Xianping Qiu |
| author_sort | Tao Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-b010dd36ac644e86aeda83bb02586519 |
| institution | DOAJ |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-b010dd36ac644e86aeda83bb025865192025-08-20T02:59:19ZengNature PortfolioScientific Reports2045-23222025-03-0115112810.1038/s41598-025-89278-5Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulationTao Liu0Jicheng Ding1Jiayue Xu2Dingxuan Zhao3Xianping Qiu4School Of Mechanical Engineering, Yanshan UniversitySchool Of Mechanical Engineering, Yanshan UniversitySchool Of Mechanical Engineering, Yanshan UniversitySchool Of Mechanical Engineering, Yanshan UniversitySchool Of Mechanical Engineering, Yanshan UniversityAbstract 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.https://doi.org/10.1038/s41598-025-89278-5Three-degree-of-freedom kinematicsRedundant drivesKinetic analysisForce-position hybrid control |
| spellingShingle | Tao Liu Jicheng Ding Jiayue Xu Dingxuan Zhao Xianping Qiu Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation Scientific Reports Three-degree-of-freedom kinematics Redundant drives Kinetic analysis Force-position hybrid control |
| title | Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation |
| title_full | Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation |
| title_fullStr | Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation |
| title_full_unstemmed | Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation |
| title_short | Design and dynamics analysis of three-degree-of-freedom kinematic mechanism for helicopter attitude simulation |
| title_sort | design and dynamics analysis of three degree of freedom kinematic mechanism for helicopter attitude simulation |
| topic | Three-degree-of-freedom kinematics Redundant drives Kinetic analysis Force-position hybrid control |
| url | https://doi.org/10.1038/s41598-025-89278-5 |
| work_keys_str_mv | AT taoliu designanddynamicsanalysisofthreedegreeoffreedomkinematicmechanismforhelicopterattitudesimulation AT jichengding designanddynamicsanalysisofthreedegreeoffreedomkinematicmechanismforhelicopterattitudesimulation AT jiayuexu designanddynamicsanalysisofthreedegreeoffreedomkinematicmechanismforhelicopterattitudesimulation AT dingxuanzhao designanddynamicsanalysisofthreedegreeoffreedomkinematicmechanismforhelicopterattitudesimulation AT xianpingqiu designanddynamicsanalysisofthreedegreeoffreedomkinematicmechanismforhelicopterattitudesimulation |