The Research And Development Of Vestibular Function Test And Training And Treatment Comprehensive Equipment

To the automatic treatment of Otolith disease as well as the detection and training of vestibular function of astronauts and pilots, on the basis of predecessors' design scheme of annulus, one new 4-DOF mechanism was raised, which can promise three-dimensional spatial movement of people's head. The main research content is as follows:The structure of mechanism has three rotation pairs and one movement pair, and the adjacent rotations are vertical and intersect to each other. The movement pair is located in the end of the mechanism, which can realize movement along the vertical direction of the moving platform, that the design can improve the flexibility of rotating seat in space motion. The rotating frame 1 was designed into class oval to reduce the space usage. In order to satisfy different people, the rotating seat was redesigned, which can adjust it's space size.The DOF of the mechanism was calculated by taking advantage of Grubler-Kutzbach equation. The kinematic model of forward and inverse solution at the original state of the mechanism was set up by using the way of D-H, and the mechanisms' velocity Jacobian matrix was set up by using the position matrix of kinematic model. The model of dynamic was built by applying the Lagrangian dynamic formulation. In the end, based on the model, the poses, velocities, the driving torque were analyzed through an example. The kinematics and dynamics simulations were done and the corresponding motion images were obtained by taking advantage of Matlab and Adams. Compared the function images of Matlab with simulation images of Adams to verify the correctness of the derived formula.According to the characteristics of the structure to establish the finite element model. The static analysis was performed in the pose with the worst stiffness that was based on actual word condition; Modal analysis was taken with the first four natural frequencies and vibration models. Multi-objective and multi-parameter optimization was taken according to the result of static analysis and modal analysis. Compared to the results of finite element analysis of original modal, the dynamic and static characters were greatly improved.The three servo motors were controlled by useing of the Siemens S7-300 PLC,and the control points were integrated on the touch screen operation panel to realizeautomatic operation.The above research contents laid the theoretical basis for further elaboration research on this device.