Modelling and Simulation of 6 DOF Motion Simulator for Underwater Research Applications

Periasamy T
1
, Asokan T
2
, Singaperumal M
1

1
Precision Engineering and Instrumentation Laboratory, Department of Mechanical Engineering,
2
Mechatronics Laboratory, Department of Engineering Design,
Indian Institute of Technology Madras, Chennai, India



ABSTRACT
This paper explains the modelling and simulation of manipulator with
six degrees of freedom for under water simulator applications. Dynamic
simulation has been carried out to obtain the possible trajectories of all
degrees of freedom. The legs of the motion platform are made up of
UPS joint structure (Universal Prismatic Spherical) to achieve six
degrees of freedom. Inverse geometric model is developed for
calculating the link length variation for different motions such as surge,
sway, heave, roll, pitch and yaw. The platform proposed here is of 200
kg payload capacity Force analysis has been carried out for the
different joints of the mechanism to select proper actuators. System
simulation has been carried out to arrive at configuration and actuator
dimensioning to meet specific application requirements such as large
displacement heave motion and large angle of tilt for roll, pitch and
yaw. This proposed parallel platform can be used to simulate various
motions as well as forces acting on AUV (Autonomous Underwater
Vehicle), ROV (Remotely Operated Vehicles), offshore and mining
structures. This platform can also be used to simulate the behavior and
control strategies of underwater robotic manipulator by integrating
parallel and serial configurations. Design details, dynamic analysis, and
motion simulation results are presented.

KEYWORDS: Parallel manipulator; Dynamic simulation; Force
analysis; Inverse geometric model

INTRODUCTION

Motion simulator of a Parallel manipulator configuration which is
being proposed here is known as the Stewart platform has its origin in
the design by Stewart of a 6-dof mechanism to simulate flight
conditions by generating general motions in space (Stewart, 1965).
Stewart's mechanism consisted of a triangular platform supported by
ball joints over three legs of adjustable lengths and angular altitudes
connected to the ground through two-axis joints. Some of the
researchers suggested the use of six linear actuators all in parallel,
similar to the tyre test machine designed by Gough and Whitehall
(Gough and Whitehall, 1962), and thereby making the platform
manipulator a fully parallel actuated mechanism. Later, some of the
researchers suggested the use of parallel actuated mechanisms like the
flight simulator of Stewart, and built such a manipulator for
mechanized work-station and performed some theoretical and
numerical study including its mobility analysis and iterative solution of
direct kinematics (Hunt, 1978). Generally the parallel manipulator is
used in machine tool technology, crane technology, air to sea rescue,
flight simulation, satellite dish positioning, telescope and orthopedic
surgery (Dasguptaa, Mruthyunjaya, 2000). Now this configuration of
parallel manipulator is proposed for underwater research applications.
The parallel platform will give all possible degrees of freedom such as
surge, sway, heave, roll, pitch and yaw as like underwater vehicle. Due
to the advantages of high stiffness, low inertia and speed capacity at the
expense of reduced workspace, the parallel manipulator being selected
as motion simulator for underwater applications. Now a days combined
application of serial and parallel robot manipulators has been
phenomenal in the industrial, engineering scientific and underwater
research areas. One such application in underwater research area is to
test a serial manipulator, which is a part of an AUV for its behavior
underwater in six degrees of freedom scenario.
Fig. 1 shows the CAD model of the parallel manipulator. Manipulator
comprise of three main parts namely, fixed plate, moving plate and
legs. The design of such a motion simulator requires system simulation
to arrive at configuration and actuator dimensioning to meet specific
application requirements. This paper proposes to address these
requirements.

Fig.1 CAD model of the parallel manipulator
208
Proceedings of The Eighth (2009) ISOPE Ocean Mining Symposium
Chennai, India, September 20-24, 2009
Copyright 2009 by The International Society of Offshore and Polar Engineers (ISOPE)
ISBN 978-1-880653-75-3; ISSN 1946-0066