Closed Kinematic Devices as the Basis for Military Vehicle Simulators

Abstract. This paper presents the characteristics of parallel structures, their application areas, research results, and practical applications. The most common parallel structures are presented, along with examples of workspace shapes. Manipulators characterized by closed-loop kinematic chains are commonly referred to as parallel. However, a more accurate statement, reflecting the concept of their operation, is that such manipulators and robots are structures with simultaneous drives to achieve the desired motion. Parallel manipulators and simulators offer many advantages over serial manipulators, including high accuracy, rigidity, and the ability to manipulate heavy workpieces. The fundamental difference between the design of parallel kinematic simulators and that of a conventional serial kinematic manipulator lies in the coordinate axes of the drives and arms. In contrast, conventional serial structures have a Cartesian x, y, and z axes. Therefore, they have found applications in flight simulators and combat vehicles. Simulators with this kinematic structure are significantly more difficult to control than serial manipulators.