Six-degree-of-freedom motion simulator with large translation stroke and high response speed

Abstract

The invention discloses a six-degree-of-freedom motion simulator with a large translation stroke and a high response speed, and belongs to the field of mechanism science and motion simulators. The motion simulator is formed by combining a parallel four-degree-of-freedom motion module and a parallel two-degree-of-freedom motion module in series. A static platform of a two-degree-of-freedom motion module is fixed on a movable platform of a four-degree-of-freedom motion module according to a specific relative position relationship; a static platform of the four-degree-of-freedom module is used asa static platform of the motion simulator; a movable platform of the two-degree-of-freedom module is used as a movable platform of the motion simulator, and six-degree-of-freedom motion of the movable platform of the motion simulator relative to a static platform of the motion simulator is realized by cooperatively controlling four driving devices of the four-degree-of-freedom module and two driving devices of the two-degree-of-freedom module. The motion inertia of the movable platform is small, the control difficulty is reduced, and the dynamic response is fast.

Description

technical field [0001] The invention belongs to the field of machinery, especially the fields of mechanics and motion simulators, and in particular relates to a six-degree-of-freedom motion simulator with a large translation stroke and high response speed. Background technique [0002] The motion simulator is a simulation device that can quickly and accurately adjust the spatial position and attitude of the end effector, involving fields such as organic mechanics, hydraulic servo, sensor detection and automatic control. Motion simulators have a wide range of application scenarios, such as testing machine performance or training drivers by simulating the motion state of aircraft, ships or cars, and can also be used as earthquake simulators and virtual reality entertainment equipment. [0003] Mechanism configuration design is the starting point and key of motion simulator development, and also the foundation of its innovation. Mechanism configuration essentially determines th...

AI Technical Summary

Problems solved by technology

The motion simulator in series form has a large working stroke and good flexibility, but it has disadvantages such as poor rigidity of the mechanism and large motion inertia.

In comparison, the parallel motion simulator has the advantages of compact structure, high rigidity, small motion inertia, and fast dynamic response, but there are also disadvantages such as small working space, singular phenomena in some cases, and difficulty in solving positive kinematics.

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