四自由度模拟飞行复合平台运动学设计及仿真

Kinematics design and simulation of four-degree-of-freedom composite flight simulation platform

针对传统飞行模拟机六自由度运动平台的缺点,自主设计一种四自由度复合运动平台,具有成本低、结构简单、运动空间大、易于控制等优势。在运动学研究基础上,建立空间坐标系及D-H参数表,结合欧拉变换法推导出运动学正反解方程。运用Matlab R obotics Toolbox仿真软件建立数学模型,对四自由度复合平台正反解进行验证,两者结果一致,说明所求方程和仿真的正确性。最后进行关节空间轨迹规划,仿真出4个关节的位移、速度、加速度曲线,各条曲线均光滑连续,证明了四自由度复合平台轨迹的可行性。

Aiming at the shortcomings of traditional six-degree-of-freedom flight simulation platform,a four-degree-offreedom composite motion platform is designed,which has lower cost,simpler structure,larger motion space and easier control.Basing on kinematics research,forward and inverse kinematics solution equations are derived by establishing spatial coordinate system and D-H parameters in combination with Euler transforming method.Matlab Robotics Toolbox is used to establish the platform mathematical model to verify the forward and reverse solutions.The consistent results of the two methods prove the correctness of the equations and simulation.Finally,joint space trajectory planning is carried out,simulating the displacement,velocity and acceleration curves of the four joints.The smooth and continuous curves verify the feasibility of the platform trajectory.