Design And Simulation Of 6 DOF Platform System Based On Virtual Reality

In the field of motion control, motion simulating platform plays a significant role to improve the development of motion control technology. As a structure for simulating motions, motion simulating platform has various applications, including: simulating the flying simulator, being the simulating structure of robots, simulating the entertaining machine and doing experiments in motion carriers such as airplanes, ships and so on.And the Stewart platform, which is a 6-DOF (degrees of freedom) parallel mechanism with two bodies connected together by six extensible legs through the joints, is generalized from the flight simulator proposed by Stewart (1965). The lower platform of a general Stewart platform is referred to as the base-platform and the upper platform is known as the payload-platform, which is always referred to as the work platform. The Stewart platform also possesses the high stiffness, high precision, high load, and excellent dynamic characteristics. Nowadays, Virtual Reality (VR) is introduced in the developing procedure of motion platform as VR has developed rapidly. After presented by American computer scientist, Jaron Lanier, in 1989, VR technology has make great progress and was widely used in various fields, such as military, aeronautics, astronautics, automatic control, medical recovery, education and entertainment.Stewart platform is used to be the basic structure of this system, and its basic features, dynamic and kinematic models and relative motions between legs are introduced in this paper. Then, Virtual Reality technology in Matlab and 3DS MAX are used to control and simulate the motion of platform, also the technology about sampling and driving DAQ is referred, and more, the form principle of tri-dimensional vision is researched basically in order to prepare for the work of forming tri-dimensional images by VR technology later.