Stewart六自由度实验平台的测试与分析

Testing and Analysis of Stewart's Six Degrees of Freedom Experimental Stage

基于Stewart六自由度平台设计而成的动感座椅,可以模拟最佳动作效果的各种空间运动姿态,使观众在观看电影或玩游戏时具有更好的代入感和互动体验。为了检测Stewart六自由度实验平台能否为实现特定的动感效果提供硬件保障,首先对其进行了单轴测试,分别测量了其静止和运动时的位置和速度;然后运用MATLAB得到相应的实际曲线,并与理论曲线进行对比分析,从而得出平台运动控制误差的大小;最后,将控制精度需求和误差分析结果进行对比,即可判定是否能为实现特定的动感效果提供硬件保障。

The kinetic seat designed based on Stewart's six-degree-of-freedom platform can simulate various spatial motion postures for better action effects,so that the audience can have a better sense of immersion and interactive experience when watching movies or playing games.In order to test whether the Stewart six-degree-of-freedom experimental platform can provide hardware guarantee for the realisation of specific kinetic effects,firstly,a single-axis test was carried out on it,and its position and speed at rest and in motion were measured respectively;then,the corresponding actual curves were obtained by using MATLAB and compared and analysed with the theoretical curves,so as to arrive at the magnitude of the platform's motion control error;lastly,the control precision requirements and the Finally,by comparing the control accuracy requirements and the error analysis results,it can be determined whether the hardware can be guaranteed for the realisation of a specific kinetic effect.