【作者】 刘小初；

【导师】 姜洪洲；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 六自由度运动模拟器是对飞机、舰船、宇航和车载设备等进行动态性能和可靠性研究的模拟试验装置,也是相应飞行员、船员及车辆驾驶员进行飞行模拟训练、舰船航行模拟训练和车辆驾驶模拟训练的有力手段。随着国内外研究的深入,其应用范围不断扩大,今天的六自由度运动模拟器在汽车制造领域、航空航天领域、船舶、机器人、工业及民用娱乐领域都有广阔的应用。本文对六自由度运动模拟器运动学和动力学进行了分析。运动学主要针对机构位置分析,包括机构位置反解分析和位置正解分析,台体运动参数的确定和液压缸速度及加速度的计算。动力学运用牛顿-欧拉法进行分析,由运动平台的运动参数得出各个液压缸的驱动力。六自由度运动模拟器各项功能和性能的实现与它结构参数的选择是密切相关的,设计优化的目的就是要找到一组最优的结构参数,以实现功能并达到需要的性能指标。本文研究了六自由度运动模拟器结构参数优化设计的实用方法即‘参数分段组合法优化’。本文对六自由运动模拟器的干涉进行了分析,绘制了液压缸与铰轴的夹角分布图,计算了上平台与液压缸的夹角,这些分析计算的结果为无干涉设计提供了依据和保障。本文研究了全数字原型仿真系统,对此系统进行了改进和完善,得到了由结构参数快速进行原型系统仿真的方法,由全数字原型系统来验证优化设计结果。本文最后根据实际的设计要求,优化设计了一个六自由度运动模拟器。通过这个例子验证了前面的设计优化方法以及干涉分析和快速仿真的可行性与正确性。更多还原

【Abstract】 The 6-DOF motion simulator is a test equipment which can be used to study dynamic performance and reliability of airplane, vessel, spaceflight, vehicle and so on. It also can be used to train pilot, sailor and vehicle driver. With the deep research of scientists, its application field becomes more and more wide. Now the range of its application is expanding continuously with extensive prospect on the field of automotive industry, aviation, spaceflight, shipping, vehicle, robot, machine-tool industry and amusement.This paper studies the kinematics analysis and dynamics analysis of the 6-DOF motion simulator. Kinematics analysis mainly studies the position analysis, including the inverse kinematics and the forward kinematics, and how to calculate the pose of the platform, and how to calculate the velocity and acceleration of the actuator. Dynamics analysis studies the force of the actuator by the Newton-Euler approach, the force was created by motion parameter.The performance of the 6-DOF motion simulator has close relationship with geometric parameters. The purpose of optimization is to get a set of optimal parameters for getting the demanding of function and performance. This paper studies the practical-way about parameter optimization of the 6-DOF motion simulator, the practical-way is the search method of parameter-subsection-compages.This paper studies the interference of the 6-DOF motion simulator, and plots the distribution map of angle between actuator and joint, and calculates the angle between actuator and platform. All the results offer the assurance for no-interference.This paper studies the digital prototype system, and get the fast-way from structure parameter to simulation. The digital prototype system can prove the result of optimization.This paper illustrate the optimal design though an example. It proves the feasibility and correctness of the optimization and interference -analysis and fast-simulation.更多还原