The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmissio...The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmission capability, evaluation criteria arepresented. At the orthogonal configuration, the criteria and the relationships between the criteriaand the link lengths are analyzed, which is important since it can provide designer a piece ofvaluable information about how to choose the linear actuators. From the analysis of the results itis shown that the force/motion transmission capabilities of the parallel manipulator arecharacterized by isotropy at the orthogonal configuration. The manipulator is particularly suitablefor certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers.展开更多
Virtual simulation experiment teaching gradually becomes the trend of the computer-related education practice.Through analyzing the problems existed in current computer experiment teaching,this paper proposes the idea...Virtual simulation experiment teaching gradually becomes the trend of the computer-related education practice.Through analyzing the problems existed in current computer experiment teaching,this paper proposes the idea of building virtual simulation experiment platform based on 3R-4A computer system and clarifies the design technology,including frame,characteristic and innovation,resource sharing and management,condition protection and so on.展开更多
To simulate the satellite launch mission under a general platform which could be used in a full-digital mode as well as in a semi-physical way, is an important way to certify the mission design performance as well as ...To simulate the satellite launch mission under a general platform which could be used in a full-digital mode as well as in a semi-physical way, is an important way to certify the mission design performance as well as technical feasibilities, and it relates to complex system simulation methods such as multi-disciplinary coupling, multi-language modeling as well as interactive simulation and virtual simulation technologies. This paper introduces the design of a digital simulation platform for satellite launch mission verification.The platform has the advantages of high generality and extensibility, being easy to build up. The Functional Mockup Interface(FMI) Standard is adopted to achieve integration of multi-source models. A WebGL based 3D visual simulation tool is also adopted to implement the virtual display system which could display the rocket launch process and rocket-satellite separation with high fidelity 3D virtual scenes. A configuration tool was developed to map the 3D objects in the visual scene with simulation physical variables for complex rocket flight control mechanisms, which greatly improves the platform's generality and extensibility. Finally the real-time performance had been tested and the YL-1 launch mission was adopted to demonstrate the functions of the platform.The platform will be used to construct a digital twin system for satellite launch missions in the future.展开更多
基金This project is supported by National 863 Plan of China (No. 512-9804- 02) and 863 Opening Robot Laboratory Foundation of Shenyang Institute Automation of Chinese Academy of Sciences.
文摘The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmission capability, evaluation criteria arepresented. At the orthogonal configuration, the criteria and the relationships between the criteriaand the link lengths are analyzed, which is important since it can provide designer a piece ofvaluable information about how to choose the linear actuators. From the analysis of the results itis shown that the force/motion transmission capabilities of the parallel manipulator arecharacterized by isotropy at the orthogonal configuration. The manipulator is particularly suitablefor certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers.
文摘Virtual simulation experiment teaching gradually becomes the trend of the computer-related education practice.Through analyzing the problems existed in current computer experiment teaching,this paper proposes the idea of building virtual simulation experiment platform based on 3R-4A computer system and clarifies the design technology,including frame,characteristic and innovation,resource sharing and management,condition protection and so on.
文摘To simulate the satellite launch mission under a general platform which could be used in a full-digital mode as well as in a semi-physical way, is an important way to certify the mission design performance as well as technical feasibilities, and it relates to complex system simulation methods such as multi-disciplinary coupling, multi-language modeling as well as interactive simulation and virtual simulation technologies. This paper introduces the design of a digital simulation platform for satellite launch mission verification.The platform has the advantages of high generality and extensibility, being easy to build up. The Functional Mockup Interface(FMI) Standard is adopted to achieve integration of multi-source models. A WebGL based 3D visual simulation tool is also adopted to implement the virtual display system which could display the rocket launch process and rocket-satellite separation with high fidelity 3D virtual scenes. A configuration tool was developed to map the 3D objects in the visual scene with simulation physical variables for complex rocket flight control mechanisms, which greatly improves the platform's generality and extensibility. Finally the real-time performance had been tested and the YL-1 launch mission was adopted to demonstrate the functions of the platform.The platform will be used to construct a digital twin system for satellite launch missions in the future.
