Size Optimization And Human-computer Interaction System Design Of A SKI Simulation Platform

In order to meet the needs of more skiing enthusiasts and break the restrictions of region and climate,a ski simulator composed of two independent six-degree-of-freedom hybrid mechanisms was proposed,and the performance of the simulator was analyzed and the control system was built.The kinematics analysis of the simulator was carried out,and the degree of freedom of the parallel mechanism 2-PRU-PRPR was calculated based on the spiral theory.In addition,the closed-loop vector method was applied to carry out the kinematics analysis of the mechanism,and the positive and negative solution model of the mechanism was solved.The kinematics analysis was carried out to observe the velocity and acceleration of each member in the motion process of the mechanism,and the velocity Jacobian matrix was established according to the inverse solution of the position.Positive singularity,inverse singularity and mixed singularity analysis are carried out.By observing the performance indexes of the simulator,the kinematic spiral system of general position was established based on the spiral theory,and the analytical expressions of the input kinematic spiral and the branch transmission force spiral were obtained.The kinematic/force transmission performance diagram of the output kinematic spiral and the mechanism was calculated by Matlab.The size of the mechanism was optimized according to the global transfer performance index,and the optimal array and standard factors were selected according to the actual situation.According to the optimized size and constraints of the mechanism,the workspace of the mechanism was drawn,and the dexterity of the mechanism was evaluated by Jacobi condition number.The core of the simulator control system is the wash out algorithm.In this paper,the optimal wash out algorithm model introduced into the vestibular system is adopted to solve the multi-constraint problem with the optimal quadratic form and adjust the weight according to the importance of the working space and motion sensing errors.Finally,the optimal filter is determined,and on this basis,the error feedback optimization is carried out.Finally,the kinematics is verified,the system model is built and verified in real time,the virtual prototype is built in Adams,the kinematics is verified,the signal receiving module and the inverse solution model are built,the transfer function in the control system is discretized,the discrete washing out algorithm model is obtained,the system modules are connected together,and the whole control system is finally completed.And the real-time verification of the system.