Design of 2DOF Motion Simulator with Actuation Redundancy

A 2DOF (degree of freedom) motion simulator with actuation redundancy is designed, which is characterized by larger workspace, heavier load capacity and less internal driving force coupling. In addition, the design method for the whole system is also introduced. The ZYX Euler angle is adopted to describe the pose of motion simulator, and the parameters of the kinematics and dynamics are deduced in matrix form. In the dynamics part, the number of driving forces is reduced to achieve the cooperative force of each freedom. The driving system that one symmetric valve controls two asymmetric cylinders is simplified to be that one symmetric valve controls one symmetric cylinder in each freedom. Furthermore, the equivalent principle of eccentric load is introduced to study the influence of this load's stiffness on system's control performance. Finally, the design of whole driving mechanism and the verification of load matching for this motion simulator are accomplished by combining the kinematics and multibody dynamics model.