Development Of Six-degerr-of-freedom Motion System Driven By Pneumatic Artificial Muscles

With the rapid development of the social and economic level,the high speed of driving,the concentration of vehicles,the family of cars and the unprofessionalization of drivers have become an inevitable trend in China.These developments have brought about tremendous changes in people's lives.At the same time,various inevitable problems have followed.The vehicle driving simulator is a kind of simulation equipment that can simulate the actual running status of the vehicle more realistically,and thus can get close to the actual driving feeling of the vehicle,and has the advantages of convenience,safety,economy,energy saving,and environmental protection.The motion system is the most essential part of the vehicle driving simulator to improve the sense of fidelity and avoid the driver's visual and physical dislocation.This paper is based on the premise of reducing costs,and aims to build a sports system that can provide drivers with realistic driving experience.The motion system is developed from four aspects: structural design,algorithm development,prototype construction,and experimental analysis.First of all,in order to reduce the development cost,the pneumatic artificial muscle with the advantages of simple structure,safety,cleanliness,economy and environmental protection is selected as the driving element of the motion system,and the typical Stewart parallel mechanism is selected as the realization structure of the six-degree-of-freedom motion.Second,the structural parameters of the Stewart parallel mechanism directly affect the working range of the pneumatic artificial muscle and the system's athletic performance,and play a decisive role in the development cost.In order to improve the working performance of pneumatic artificial muscles,the structural parameters of the parallel mechanism were optimized.At the same time,the strong non-linearity of pneumatic artificial muscles caused by the compressibility of air,the elasticity of rubber cylinders and friction,has a great influence on the performance of the motion system.To solve this problem,this paper designed a table module based on the actual performance data of pneumatic artificial muscles.With this module as the core,the nonlinearity of the motion system is controlled.Finally,according to the design scheme,the experimental prototype of the sports system was completed from the motion platform and the real-time control.Through the prototype experiment,the influence of the nonlinearity of the pneumatic artificial muscle on the working characteristics of the motion system was proved,and validates the effectiveness of controlling the nonlinearity of the motion system by using the table module of the actual performance of pneumatic artificial muscles.