Dynamic Modeling of a 6-DOF Parallel Structure Destinated to Helicopter Flight Simulation

Abstract: The dynamic analysis is the basic element of the mechanical design and control of parallel mechanisms. The parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper a solution for solving the dynamical model of a 6-DOF parallel structure destined to helicopter flight simulation is presented. The obtained dynamical algorithms, based on the kinematical ones, offer the possibility of a complex study for this type of parallel structure in order to evaluate the dynamic capabilities and to generate the control algorithms.