Design methodology for a hexarot-based centrifugal high-G simulator

A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators

“…44 These mechanisms are mostly known as high-G centrifugal simulators. 31 The hexarot simulator has six DOF movements consisting of rotation and translation. This simulator has an end effector, six actuators and arms, and a central column (see Fig.…”

“…The vibration simulation is performed for two sets of design parameters of hexarot simulator. The first case study is simulated for a general hexarot mechanism, [31][32][33][34][35] and the second case is a simulator that is designed for minimum condition number of Jacobian matrix J ϕ . 31 Figure 5 depicts the change in the least natural frequency with the change in the condition number of J ϕ for different payloads.…”

“…Afzali-Far et al 30 studied damped vibrations of Stewart platforms and investigated the influence of inertia on its vibrations. The simplified dynamic formulation for hexarot coaxial parallel manipulators has been studied; [31][32][33][34][35] however, to the best of the authors' knowledge, no mathematical solutions exist for the dynamics and vibrations of the hexarots in the reported literature that consider all the effective parameters like the base motion, the stiffness of the different parts of the mechanism, the effects of gravity and inertia, and torque and force related to the joints viscous friction.…”

Performance Evaluation and Calibration of Gantry-Tau Parallel Mechanism

“…This mechanism also has some limitations in its workspace and relatively small payload. Therefore, the SCARA-Tau concept has been extended to six degree-offreedom (DOF) octahedral hexarot mechanisms in Pedrammehr et al (2016Pedrammehr et al ( , 2017Pedrammehr et al ( , 2018aPedrammehr et al ( , b, c, d, 2019a.…”