Research On 3-DOF Parallel Platform With Anti-twist Structure For Vehicle Driving Simulation

With the development of virtual reality technology, motion platforms for simulation are widely used in military, entertainment and other fields. The motion platform based on the parallel mechanism is more widely used because of its high stiffness,high load carrying capacity,small installation space and high running accuracy.This paper focused on 3-DOF vehicle driving simulator.3-DOF parallel mechanism with two rotations and a translational movement can satisfy the motion requirements of 3-DOF vehicle driving simulator.The kinematics of different mechanisms has great difference. There are less parallel mechanisms with excellent motion characteristics, high load carrying capacity and control simply. Such as 3-RPS parallel mechanism is not suitable for complex motion because of the large floating of the platform’s center when rotating.This thesis designed a parallel motion platform of 3-UCU/PS/RPS with anti-twist structure based on the common parallel mechanism. Analysed the constraint condition based on the screw theory, analysed its work space and position of forward and reverse and analysed the force of moving platform by using the method of split bar. Introduced the comnon drive way of Parallel mechanism and selected an appropriate power plant for 3-UCU/PS/RPS. Make full use of three-dimensional modeling software and motion analysis software. The model of II 3-RPS and 3-UCU/PS/RPS was built and its motion performance was analysed. The use of computer software dumbed down the calculation process and accelerated the development of platform. A visual simulation software for 3-UCU/PS/RPS was designed with help of Visual C++ 6.0 and OpenGL library. The software accomplished motion simulation,static analysis, forward and reverse position solution and real-time display of attitude data. The control algorithm of 3-UCU/PS/RPS platform was designed and the control program based on PISO-PS400 motion control card was written. The detection of control algorithm was completed by using the visual simulation software. The software can effectively monitor and analyze the movement of the platform and avoid the damage of the physical prototype by the reason of error control program and provided guidance for the platform design and post-control.