A New Class of Hybrid Motion Simulation Using a Very Fast Parallel Robot

The paper presents application of a parallel robot to a new class of hybrid motion simulation in which most of simulation is done using a complex numerical model and only a small but indispensable part of simulation is done using a physical model. The advantage of this type of simulation is that it exploits rapidly growing computational means for testing a real object in the simulation. A key element in such a class of simulation is a motion table that realizes motion with high frequency and combines the results of the numerical simulation precisely with the motion of the physical model or vice versa. The paper presents application of a fast parallel robot to such a high-speed motion table. It also presents modeling of the impact dynamics of motion in the simulator and its verification through experiments.

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