Analyse cinématique, dynamique et équilibrage statique d'un mécanisme parallèle sphérique à 3 degrés de liberté pour une installation de simulation de vol

Abstract

Les objectifs principaux poursuivis lors de la réalisation de la maitrise sont: l'analyse cinématique et dynamique d'un mécanisme sphérique à trois degrés de liberté, l'équilibrage statique de ce mécanisme ainsi que la conception d'une installation de simulation de vol utilisant ce mécanisme comme plate-forme de mouvements. Ces objectifs visent un but commun qui est de concevoir un simulateur de vol performant au plus bas coût possible.

Les résultats obtenus lors des différentes analyses ont clairement démontré que le type de mécanisme choisi offre des performances comparables aux simulateurs actuels, tout en diminuant de façon notable le coût. L'utilisation de l'équilibrage statique a permis d'obtenir des diminutions intéressantes des couples aux moteurs. La conception informatique du simulateur a permis de choisir différentes composantes telles que les moteurs et l'écran, ainsi que d'optimiser la forme et la taille des différentes membrures.

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The main objectives pursued during the achievement of the mastery are: the kinematic and dynamic analysis of a spherical mechanism with three degrees of freedom, the static balancing of this mechanism as well as the design of a flight simulation installation using this mechanism as a platform of movements. These objectives aim at a common goal which is to design a high-performance flight simulator at the lowest possible cost.

The results obtained during the various analyzes clearly demonstrated that the type of mechanism chosen offers performance comparable to current simulators, while significantly reducing the cost. The use of static balancing has made it possible to obtain interesting reductions in the torques to the motors. The computer design of the simulator made it possible to choose different components such as the motors and the screen, as well as to optimize the shape and size of the different frames.