| The development of the series mechanism has contributed to the study of space mechanism.For nearly two decades, the development of parallel mechanism has promoted the improvement of the space mechanism again. At the present, in order to promote scientific and technological progress and independent innovation and open up the unique way in some new industries and fields, parallel-series institutions become a hot new area in all high-end technology applications based on the characteristics of series mechanism and parallel mechanism.Based on the background of "wind tunnel simulation experiment platform of five degrees of freedom", wind tunnel experiment motion platform structure configuration is built, and its freedom and the motion principle are analyzed according to the experimental demand of wind tunnel experiments motion platform’s structure. Firstly, the inverse and forward kinematics of the parallel part are analyzed. Secondly, the relationship between experiment model’s orientation and each branch chain of electric cylinder in motion simulation platform is summed up. Finally, the mathematical model is established with Matlab software and the results are verified.Statics research is based on the simulation movement characteristics of the platform, combined with the gravity of series parts and the stress situation of the test model in wind tunnel test, the relationship between experiment model’s stress and branch chain of electric cylinder in motion simulation platform is summarized.Inherent frequency analysis is an important part of constructing the simulation platform, and by analyzing the stiffness of each branch chain of electric cylinder, the general stiffness matrix of motion simulation platform is got, and general mass matrix of motion simulation platform is found by Kane method. According to the general stiffness matrix and general mass matrix, the natural frequency and the corresponding vibration mode of the motion simulation platform is deduced. In order to verify the accuracy of the calculation, a model that simulates the motion simulation platform is built in Solidworks, and then modal analysis is used to obtain the natural frequency in Ansys. Based on the result, the derivation process is further validated.According to the motion principle of motion simulation platform, the hardware of control system is constructed, and the paper introduces the function and application of the main hardware in motion simulation platform. The power supply system of servo driver, DC power and connections are designed. The paper also shows connection principle of data acquisition card, and makes detailed explanations of the corresponding data in data acquisition channels.The adjustment of the servo system can ensure that servo motor operation has good stability and response. In this paper, a discussion of the servo motor debugging method and process is made. The control program of motion simulation platform is written by visual C++. And a detailed introduction of simulation and operation for application of the interface is made. The design and research for wind tunnel experiments motion platform provides wind tunnel experiments with a new technology, and it has certain significance to the configuration and control research of the other similar five degree of freedom parallel-series institutions. |
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