Research On Motion Simulation Algorithm Based On Serial Manipulator

The motion simulator,which appeared in 1970 s,is widely used in flight simulation,vehicle road simulation,aviation and navigation simulation,robot,parallel machine tool,space docking technology and entertainment facilities by simulating the movement of aircraft and ships in the motion simulator.The motion platform of series mode has large motion range,fast response speed,simple control and low cost.Moreover,the development of hardware makes the load and control precision greatly improved.It makes it more feasible to design an effective free degree series motion platform in motion simulation,and with domestic games and amusement The opening and vigorous development of the music industry,especially the development of virtual reality technology,has stimulated the design and development of many recreational and sports simulation.Therefore,it is of great practical significance and value to study the motion simulator of the series mechanism.The previous motion simulator is almost all built on the basis of parallel mechanism,and the most used and most mature is based on the six degree of freedom stewart platform.However,the simulator of tandem mechanism has not been widely studied.Due to the differences in the structure of parallel mechanism and serial mechanism,there are differences in the mode of motion and the way of control.So we need to study the kinematics and dynamics of the series mechanism deeply so as to apply the motion simulation technology based on the parallel mechanism to the simulator of the series mechanism.In this paper,the kinematics and dynamics of the series five axis manipulator are studied and studied.Then the motion simulation technology is combined with it,and the motion simulation process is also the constraint process of the acceleration,angular velocity and displacement,that is,the trajectory planning problem,so the kinematics,dynamics and rail are used in the series mechanism.The study of trace planning realizes the best use of space to achieve motion simulation.The most important aspect of motion simulation is the washout algorithm.Because the motion space of the motion simulator is limited,it is impossible to completely reappear the driver's movement on the real driver,so use the wash out algorithm to make the acceleration and angular velocity produced by the driver's driving in the limited space simulation.There are three main kinds of washing algorithms: the classic wash out algorithm and the optimal control.A washing out algorithm and a Coordinated Adaptive wash out algorithm are made.Because the body organs can not accurately distinguish the degree of motion,and the cut-off frequency of high pass filter and low frequency filter has no obvious boundary,so the theory of fuzzy control is introduced to improve the classical washing algorithm,and the motion error and the space of the motion platform are combined with the human vestibule sensory organs.It is possible to improve the fidelity of motion simulation as far as possible without the limitation of the super sport platform.After the simulation analysis of the above research contents is reasonable,it is verified and analyzed on a series five axis manipulator.