The Design And Implement Of Ski Simulator Based On VR And 3RPS Parallel Manipulator

With Beijing-Zhangjiakou Olympic Winter Games approaching,the skiing sports receives increasingly attention.As the expensive and dangerous characteristics makes it hard for skiing's popularity in China.As an alternative scheme,skiing simulator can just solve the problem.Actually,the existing skiing simulator's effect is not lifelike,while the interaction with the skier sensory is not abundant enough.To solve the problem,this paper has presented a new skiing simulator scheme which combined with 3RPS robot and VR technology.As a result,it can simulate the three dimensions of skiers' pitching,turning and gliding to meet the requirements of skiers to simulate actual skiing.Expect for the development of VR visual subsystem,all the rest effort is finished by the author independently,and the work is mainly composed of three parts.Firstly,with the quaternion,the direction of the cosine matrix and other mathematical methods,the first part analyses,models and implements of the skiing simulator's controlling system,which has accomplished the mapping between the vector space of skier's barycenter and the vector space of skiing machine platform.Second,via transfer function smoothing the motion curve and Z-transform,?-transform discretizing the signal,the paper has implemented the skiing simulator signal preprocessing system,which solves the problem that the input signal is not continuous and the skiing motion travels space is not enough.Thirdly,through the optimization of popular protocols and the analysis of ADS communication principle,the communication system of skiing simulator has been realized,which solves the problem of mutual communication between ski simulator subsystems.The verification process of this paper is divided into two parts:subsystem unit test and system test.In this paper,the correctness of the control system is verified by the inverse operation of the forward and inverse algorithm in the process of unit testing of the subsystem.The comparison of the input and output signals of the skiing station signal preprocessing system verifies its effectiveness.The realism of the skiing simulator communication system is verified by packet capturing,and the consistency of the skier's view and the motion of the scene is verified by comparing the background of the virtual reality generation system.Finally,this paper verifies the coordination of the ski simulator.According to results,the paper can meet the requirements of skiers to simulate actual skiing.