Implementation of Gibbs-Appell method in dynamic analysis of a novel serial-parallel hybrid robot PP-(3RSS-PS)

This paper introduces a conceptual design of a new hybrid robot, named PP-(3RSS-PS), specifically intended for motion simulation. The presented robot offers several notable advantages, including a simple and compact structural design that optimizes its large workspace. The modular X and Y axes are engineered to facilitate extended acceleration phases, while the power transmission system's hollow shaft design enables unlimited yaw motion. In certain applications like aerial maneuvers, dogfights, and helicopter operations, the ability to achieve unlimited yaw motion holds significant importance for delivering precise and immersive simulations. To establish the relationship between joint space and Cartesian space parameters, comprehensive kinematic, Jacobian, and dynamic analyses of the robot are performed. These preliminary relations lay the foundation for subsequent investigations, such as optimization studies. The Gibbs-Appell formulation is employed to derive the dynamic equations, leveraging its computational efficiency over the Lagrange method. To validate the analytical model, a simulation using MSC-ADAMS software is conducted. This simulation incorporates six predefined trajectories adopted from an industrial motion simulator. Successful validation of the results would not only confirm the accuracy of the analytical model but also motivate further research in search of an exceptional alternative motion simulator.