| Six degrees of freedom (DOF) simulation platform could make its payload-platformmoved with6-DOF in the workplace by controlling the six linear actuators stretching out anddrawing back. As the result of its character, high rigidity, high precision and low error,6-DOF platform is extensively used for simulation experiments of weapon aim systems fixedon cars, ships, and airplane. And in the field of simulating and training system for drivers,sailors and pilots, biological engineering and amusement, it could be seen.Based on the6-DOF platform, the project has completed the overall scheme designaccording to the requirements of the movement indicators, and had the optimization designthrough the process of dynamic motion simulation. The research is focused on thethree-dimensional entity model of the6-DOF platform, kinematics and dynamics equationand optimization design.Firstly, Based on the analysis of the6-DOF platform’s working principle and movementindex, built the three-dimensional entity model through Pro/E.And then using the ADAMS toverify the correctness of the model and interference phenomenon so as to determine themechanical model of motion platformSecondly, depended on the analysis of the principle, the inverse kinematics (IK) equationof the6-DOF platform between the payload-platform is built and using the Matlab to verifythe correctness of the algorithm, in order to establish the dynamics equation.Finally, using the ADAMS to had dynamic simulation analysis on the virtual prototypingmodel for discuss the influence of the position of the hinge point factors (hinged pointdistribution angle and the hinge point circle radius) on the motion platform overallperformance including the driving force of the six drive rod and the binding of each ball hingeand hooke hinge. According to the results of analysis modified the model parameters so as toachieve the purpose of optimization design. |
