Performance Analysis And Design On The Six Degree Of Freedom Motion Simulator

Because of its features of good safety, low cost and good adaptability, parallel motionsimulator is getting more and more applications, such as flight simulator used for trainingpilots and ship simulator used for training crews. Based on the Stewart platform, a sixdegree of freedom motion simulator is presented in this paper, which can be applied toaerospace, military and the modernization of industrial production etc.Firstly, the positive and inverse position solutions of the parallel motion simulator aresolved and a new method to positive kinematics solution is presented by using the relatedtheory. On the basis of position solution and considering structural constraints of thismechanism, the workspace of the parallel motion simulator is established. For ease ofobservation, the three dimensional map of workspace and its corresponding contour aredrawn, and the influence of parameters of mechanism on the workspace is analyzed.Secondly, Criterions for explaining local kinematics isotropic performance and local staticisotropic performance are defined, as well as the criterions for explaining globalkinematics isotropic performance and global static isotropic performance. The formercriterions can help analyze the distribution of local isotropic performance in workspace,and later criterions can help analyze influence of parameters of mechanism on isotropicperformance. Using the vector differential method, the error model of this mechanism isestablished. Meanwhile, the influence of each error source and the parameters ofmechanism on output error is analyzed, and the corresponding curses are drawn. Finally,the virtual prototype model is built by Pro/E and the simulation is done by ADAMS, fromwhich the kinematic and dynamic simulation curves can be gotten. The simulation showsthat this mechanism has better performance of kinematics and dynamics.