含防扭结构的三自由度并联平台运动分析与仿真

Motion Analysis and Simulation of 3-DOF Motion Platform with Anti-Twist Structure

以三自由度并联机器人为原型,设计了一种含防扭臂结构的并联运动平台,探索其在汽车模拟驾驶器上的应用。运用Inventor软件建立并联运动平台虚拟样机,使用ADAMS软件对平台进行运动分析和仿真,完成了平台在复合运动下的运动学正、逆解分析和动力学分析,得出平台的运动特性,对比分析了防扭臂结构对平台动力学性能的影响,为平台结构设计和运动控制提供了实用依据。物理样机试验表明,该并联平台能够准确模拟汽车驾驶过程和运动状态,成本低廉,响应速度快,运动精度较高,有较大的应用价值。

Abstract：Taking the three-degree freedom parallel robot as research subject, a parallel motion platform with anti-twist structure is designed, and its application in car driving simulator is explored. A parallel motion platform of virtual prototyping is established by inventor software and ADAMS software is used to do motion analysis and simulation. The positive and inverse kinematics and dynamics analysis of the platform under the complex motion conditions are completed to obtain the motion characteristics of the platform and achier a contrastive analysis result about the impact of anti-twisting arm structure on the platform＇s dynamic performance. A reference for structural design and motion control of the platform is provided and its application in terms of car driving simulator is explored. Physical prototype experiments show that the parallel platform can accurately simulate car driving process and motion state. And because of low cost, rapid response and highly precise movement, the parallel platform has large application value.