Dynamic Study On The Large-displacement Motion Simulator

Facing the market competitions, the requirements of the structural property, theaesthetic shape and the development cycle of the moving carrier and its built-in widgetsimproved continuously, and an increasing number of countries value the intensive study ofthe Motion simulation system. Multi-DOF Motion simulation system can be applied in themotion simulation of spacecraft, ships, ground vehicles and so on. It also can be used asthe dynamic response testing platform. The level of development of the Motion simulationsystem is an important basis to assess the developing of the aeroamphibious carrier,space-docking, national defense and the development of the built-in widgets in the movingcarrier. The Motion simulation system, at this stage, has the weakness that theworking-space is not large enough. So, it’s meaningful in theory and reality to developnew Multi-DOF Motion simulation system with large working-space. The furtherdevelopment of the machining techniques and the automatic control technology providethe produce of the precise Multi-DOF Motion simulation system with large working-spacewith technology, and it is necessary to provide the produce and adhibition withtheoretical basis that deeply explore the Motion simulation system with kinematics anddynamics.The Motion simulation system with large working-space which has been studied inthis dissertation includes parallel-tandem hybrid Motion simulation system and Six-DOFtandem Motion simulation system. The parallel-tandem hybrid Motion simulation systemconsists of Stewart platform and Three-axle table. Stewart platform can move withsix-degree of freedom. But the translation and rotation is limited by its own parallelconstruction. The three rotating rings of Three-axle table can revolve freely. Thecombination of them remedies the defect of the limitations on angle. Six-DOF tandemMotion simulation system which consists of Cartesian robot and Three-axle table canmove in a large working-space. Motion simulation system with large working-space whichhas been studied in this dissertation includes parallel-tandem hybrid Motion simulationsystem and Six-DOF tandem Motion simulation system. The parallel-tandem hybridMotion simulation system consists of Stewart platform and Three-axle table. Stewartplatform can move with six-degree of freedom. But the translation and rotation is limitedby its own parallel construction. The three rotating rings of Three-axle table can revolve freely. The combination of them remedies the defect of the limitations on angle. Six-DOFtandem Motion simulation system which consists of Cartesian robot and Three-axle tablecan move in a large working-space.The phylogeny and the study status of Motion simulation system will be brieflyintroduced, and the kinematics analysis of the parallel-tandem hybrid Motion simulationsystem and Six-DOF tandem Motion simulation system will be carried out. Therelationship between the speed, acceleration, angular velocity and angular acceleration ofthe built-in chamber and the kinestate of the driving mechanism will be determined. Onthat basis, dynamic study of these two systems in different structural forms based onKANE equation will be accomplished, and the dynamical equation of these two systemswill be built up. Besides, the kinematics equation and the dynamical equation will beprogrammed and calculated by Matlab in this dissertation. The numerical simulation of thekinestate of the driving mechanism and relevant parameter when the system moved indesignated motion will be carried out. Dynamic relationships between the kinestate of thebuilt-in chamber and the driving mechanism will be calculated based on the specifiedmass and rotational inertia of each organ. Finally, the dynamic simulation of these twosystems will be accomplished by Pro/E to examine the theoretical derivation and theprogram and calculation.