Workspace Analysis of a 3-PSP Motion Platform

Abstract

This paper presents the workspace analysis of a 3-PSP motion platform to be used as a flight simulator. In this design, all passive joints are kept on the base plate rather than under the moving platform, thus ensuring a secure and easy to construct configuration. With a proper description of the constrained rotation of the platform, the inverse kinematics can be solved in an analytical form. The resulting workspace shows varying tilting amplitudes with respect to the vertical displacement, the azimuth and the actuator strokes.