Search Of 6-DOF Locomotive Driver Training Platform

This paper studies a six degree-of-freedom (DOF) locomotive driver training platform of known as the Stewart parallel robot. Firstly, the forward kinematics of this platform is solved by using the inverse kinematics method to approach the final result. Secondly, based on the "influence of coefficient" method, the analysis of velocity and acceleration are presented. In this paper, the dynamic model is built according to the Lagrange equation. Thirdly, the structural parameters of the 6-DOF locomotive driver training platform have very significant effect on its kinematics behavior. The paper deduced the Jacobian matrix connecting the dexterity performance, and then uses the condition number as the target function of optimized design based on Genetic Algorithm. Fourthly, the latest patent of the State Key Lab of Traction Power on mechatromcs actuator is used for developping a new type of legs to drive this platform. Finally, having studied many altorithms, we choose the classical washout filter algorithm as the basis of our proprioceptive simulation algorithm, which is aim at providing the 6-DOF locomotive driver training platform an effective way to implement the function of the proprioception of the simulation system sufficiently. And also the washout filter is studied. According to the test results, it really works.