Study And Design Of Master-Slave System For A Novel Flight Simulator

Flight simulator is important equipment for pilot to do flight training on the ground, this article does researches on the flight simulator which is based on redundant parallel mechanism; design master-slave system for a novel flight simulator, and study the kinematic performance and operability by the method of master-slave operate. The study is work to provide theoretical basis for practicability of the novel flight simulator.Firstly, by analyzing the demand of system, the motion simulator and hand controller are design, which are based on4PUS-PPPS redundancy parallel mechanism and hybrid mechanism. Then the kinematics analyses of the devices are study and the multiple solutions of kinematics are discussed.Next the control methods of the master manipulator and slave manipulator are research on the basis of kinematics analysis.To the research of slave manipulator which is responsible for flight simulator motion, the first task is figure out the size of workspace and distributed specialty by analyzing the affecting factors, then proposed motion planning method in Cartesian space and study the method of passing through workspaces of multiple solutions, the method is discussed by classify different restriction on the degree of freedom.To the research of master manipulator which is used as operating device, the mainly task is find way to implement force feedback control method. At first the mathematic model and physical simulate model are bulit, then the precision of physical simulate model which can be amended and compensated directly according to the simulate environment and the parameters calibration is proved to be higher by the driving resules of prototype. Finally, the semi-physical simulation system is established by designing the data processing module of collision force, and make asuccessful experiment to ahchive force-feedback control.The master-slave system is design in detail after studying out the control methods of master manipulator and slave manipulator. The control strategy is confirmed and the hardware is designed and type-selected by project requirements. Finally the control system is designed to achieve integrated adjusted of the whole system by three modules of path planning, motion simulator driving and force feedback operation.This article includes83images,2tables and65references.