Research On The Algorithm Of Movement Protection Of Light Flight Simulator

This article takes the interferences of movement protection of light flight simulator as the studying object, and researches a series of questions about the dynamic modeling, the interference check algorithm, the workspace and the algorithm of movement protection.At first, this paper gives the spatial position and posture description method of the parallel platform, and the math models of the forward solution and inverse solution about position and posture is established. Also, the dynamic modeling of the parallel platform is studied. Newton-Euler is chosen to establish the real-time compute dynamics model. All these are applied to the further research.Next, the interference check algorithm of light flight simulator is researched. According to the application, the link interference check algorithm, the interference check algorithm of the movment platform and the angle examination algorithm of the equivalent compound sphericity gemel are designed. Then, the workspace of the light flight simulator with the interferences is analysed and studied.Finally, the algorithm of movement protection of light flight simulator is designed and implemented. And aimed at the limit of the leg-length, the interference questions of the movement platform, the angle limit of sphericity gemel, a virtual spring algorithm is designed. The simulation result proves that the algorithm is effective. On the foundation, a movement controller is designed. The algorithms are divided different module according to the different functions, the corresponding software to each module is compiled.