6-RRS冗余驱动飞行模拟器运动学与工作空间分析

Flight simulator with 6-RRS redundant actuation spherical parallel manipulator

提出一种以6-RRS球面并联机构作为运动机构的冗余驱动飞行模拟器.该机构具有3个转动自由度、6个驱动、3个冗余驱动,由2个完全相同的3-RRS球面并联机构构成6-RRS球面并联机构.该机构广义上具有一个定平台和一个动平台,整个动平台即为飞行模式器座舱.在3-RRS球面并联机构运动学分析的基础上,给出了6-RRS球面冗余驱动并联机构的运动学分析,包括机构的方向余弦的建立、反解和正解及该机构的工作空间分析.

The paper proposes a novel type of flight simulator with 6-RRS spherical parallel manipulator.It has 3 degrees of freedom（Do F）,6 actuators and 3 redundant actuators. Two totally same spherical parallel manipulators consist of the flight simulator,it still has one fixed base in general and one motive base,the whole motive volume is served as the flight simulator’s capsule. The analyses of kinematics and workspace of the 6-RRS spherical parallel manipulator are given.