Kinematic Analysis for Working Space of the Rotopod Mechanism

Abstract

The mechanisms of parallel structure mechanisms are widely deployed in different areas. The industry of training simulators is one of the areas where the usage of such mechanisms is most common and effective solution. This paper presents the conceptual of a rotational parallel mechanism (Rotopod mechanism). This mechanism is used to reproduce movement, inverse kinematic, the working space were analysed.
Computational tools were used to resolve equations, create a virtual design in the conceptual design. The rotational parallel robot used six servomotors and six links with spherical joints that provide 360o rotational capabilities on its axis. That mean, the working space of the rotopod mechanism - the universal base for a 6-DoF training simulator. The purpose is to achieve an increase in functionalities of parallel mechanisms in view of their possible singularities.