| The three degree of freedom parallel motion platform is now widely used in many fields including military, entertainment, etc. And it becomes a hot research issue as result of its advantages. However, the development and application of 3-DOF parallel motion platform are obstructed by its own shortcomings like less mechanism type, complicated motion and control and high cost. A new 3-DOF serial motion platform for vehicle driving simulation was designed aimed at overcoming the shortcomings.In this thesis, the performance indicators of the motion platform are proposed based on the analysis of vehicle motion. According to these indicators, the overall scheme design of the motion platform including mechanism type, organization distribution and realizing way of each DOF was established. While creating 3D model of the Serial Platform by Inventor Software, design and optimization were carrying on simultaneously after which the selection of the key components and the construction of the mechanism details was completed.After simplified the serial platform model, it was imported into Adams and virtual prototype of the serial platform was established. According to the simulation of the virtual prototype, the status parameters of every DOF movement and key components were obtained and a high motion reliability of the serial platform was proved. The performance of the platform with a damping device was analyzed compared with the platform without a damping device and the transmission equation of each DOF was verified.The kinematics positive solution and inverse solution were accomplished after the kinematic model of platform was established by D-H method. Kinematics analysis of the virtual prototype was conducted, which proved the correctness of the montion equation. Using Adams and Matlab to co-simulate, the workspace of the seat centroid were demonstrated clearly and intuitively. The obtained simulation data can provide the basis for the subsequent structural design of the physical prototype and motion control for motors.The physical prototype was manufactured by processing and assembling after the part drawings and assembly drawings were completed. On the basis of the physical prototype, the motion control system of the platform was designed. The selection of the control system hardware was completed and the control program was made.The physical prototype test demonstrates that: the motion platform has good movement performance and can efficiently complete the target motions with a high speed. |
