Inverse kinematic of a two-degrees of freedom parallel moving platform

https://doi.org/10.31130/ud-jst.2025.23(6A).179E

Tóm tắt: 47 | PDF: 29

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Author

  • Cai Viet Anh Dung
    Ho Chi Minh City University of Technology and Education, Vietnam
    Tran Quoc Dai
    Ho Chi Minh City University of Technology and Education, Vietnam
    Le Thanh Tung
    Ho Chi Minh City University of Technology and Education, Vietnam

Từ khóa:

Virtual reality
parallel mechanism
kinematic model

Tóm tắt

This paper presents a kinematic modeling approach for a two-degree-of-freedom (DOF) parallel mechanism moving platform. The system features a moving platform connected to the base via two Cardan joints, allowing rotation about two intersecting tilt axes (roll and pitch). Two DC motors fixed to the base drive the platform through two Revolute–Spherical–Spherical (RSS) mechanisms [1], enabling precise control of the tilt angles. A general inverse kinematics method for this and similar mechanisms is proposed and validated through experiments to evaluate the model’s accuracy and effectiveness. The results demonstrate the method’s applicability to the design and development of virtual reality (VR) chair systems, offering flexible two-DOF motion. This approach has potential applications in motion simulation and mechatronic system control.

Tài liệu tham khảo

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Jun 30, 2025
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Cách trích dẫn
Dung, C. V. A., T. Q. Dai, và L. T. Tung. “Inverse Kinematic of a Two-Degrees of Freedom Parallel Moving Platform”. Tạp Chí Khoa học Và Công nghệ - Đại học Đà Nẵng, vol 23, số p.h 6A, Tháng Sáu 2025, tr 87-92, doi:10.31130/ud-jst.2025.23(6A).179E.

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