一种少自由度运动平台的工作空间与尺度综合

Workspace and dimensional synthesis of less DOF motion platform

研究了一种少自由度飞行模拟运动平台的工作空间椭球包络与尺度综合方法。在运动学研究的基础上,采用统计原理和变步长边界搜索方法对运动平台的需求工作空间进行了椭球空间包络研究,并以有效利用率为评价指标对感知信息丢失与需求工作空间大小的矛盾进行了评价,研究了获取运动平台最优工作空间的方法。以模拟性能为评价指标,综合考虑移动副行程、铰链约束和灵巧度,对运动平台进行了尺度综合研究。最后通过算例,以实际飞行的QAR数据为基础,对运动平台最优工作空间的椭球包络方法进行了验证,研究讨论了各评价指标和约束随尺度参数的变化规律,确定了运动平台的最优尺度参数,验证了方法的有效性。

This article focuses on the methods of workspace ellipsoid envelope and dimensional synthesis,which can be applied to the flight simulator's less DOF motion platform. Based on the kinematics study, both the statistical principle and the method of variable-step boundary search are adopted to analyze the workspace required by the motion platform. The effective utilization rate is used as an index to evaluate the contradiction between the perceived information loss and the size of the desirable workspace. Then, the method of obtaining the motion platform's optimal workspace is proposed. With the simulated performance as an evaluation index, the scale analysis on the motion platform is carried out, with such factors as the distance of moving pairs,hinge constraints and dexterity taken into account. In this example,the ellipsoid-envelope method is verified based on the actual flight QAR data. The law of evaluation indexes and constraints changing with the scale parameters are identified, and the motion platform 's optimal scale parameters are obtained, thus indicating that the method is effective.