Modeling, Simulation and Motion Cues Visualization of a Six-DOF Motion Platform for Micro-Manipulations

Abstract

This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. The design consists of a motion plate connected through only revolute hinges for the passive joints, and three legs located at the base as the active elements. In this hybrid kinematic structure, each leg is connected to the top (motion) plate through three revolute hinges and to the bottom (fixed) plate through a single revolute joint forming a closed-loop kinematic chain. The paper describes the mathematical modeling of the proposed design and demonstrates its simulation model using SimMechanics and xPC Target for real-time simulations and visualization of the motion cues.