| This paper focuses on analyzing and designing a kind of 6- dimensional controller based on macro parallel mechanism, so as to solving two main problems in existing research. The first is multi-dimensional controllers that based on micro parallel mechanism usually cannot give users a clear operating impression and the cost is high. The second is it’s not convenient and lack of real sensation of movement when operating controllers that made up of several control components, because its need to operate two or more buttons at the same time in the case of multi-dimensional control. This paper has completed the following research work.1) A kind of configuration analysis method based on the motion screw is proposed. Using this method, the paper analyzes the commonly used UPS and SPS kinematic chain, and presents several continuous singular surfaces of them. It will provide theory basis for typing parallel mechanisms with different DOF, kinematic characteristic and decouple performance.2) The kinematic performance of the 3-UPS parallel mechanism is analyzed and the structural parameters are optimized. The forward and inverse kinematics of the 3-UPS parallel mechanism is obtained and a kind of polar coordinates search method based on the workspace of single chain is proposed. The paper draws the fixed posture workspace of the mechanism by using MATLAB and discusses the influence to the workspace with parameters varieties based on the relationship between the structure parameters and the volume and cross-section of the workspace. Then the velocity Jacobian matrix is solved, and the flexibility of the mechanism is analyzed.3) A kind of improved Genetic Algorithm is proposed. The optimization mathematical model is built with the optimization target of maximizing the ratio of workspace/volume. By using the improved Genetic Algorithm, the key parameters are determined.4) The corresponding interactive simulation system is designed. First, proper sensors are selected based on the characteristics of the 3-UPS mechanism, and the system control circuit is designed, which accomplished signal collecting and processing, as well as data communication between MCU and PC. Then, the corresponding upper computer program is designed, two methods to build the virtual scene are proposed, one of which is based on LabVIEW and another is based on VC++ OpenGL.The achievements will be widely applied in the field such as virtual reality technology, tele-operation technology, computer aided design, computer 3D animation making and data visualization, etc. |
