Rocket Attitude Simulator Design And Control

This paper use parallel robot and rotation equipment installed on the platform to simulate the flight gesture of the missile.This topic is the application of parallel robot in motion simulation. The experimental prototype is 6-THRT parallel robot,which is controlled by stepping motor.Firstly,the paper established the coordinates ,analysed force and torque effect on the missile,obtained the movement disciplinarian of irrational missile and circumvolve missile,and established proximate gesture simulato equation according to parallel robot's speed.Secondly,Because of the Parallel robot can not simulate rotation,we need design rotation equipment and install on top of the Parallel robot so that the missile can circumgyrate in determinate speed.And then ,we carried through the track planning and realized three kinds of track planning: precession add centroid movement, nutation, nutation add precession. Then,make use of stepping motor control unit and industry computer to control the Parallel robot.At last, we used the stepping motor motion control card and IPC to achieve the parallel robot motion control .Then we carried on motion emulator,obtained each pole's speed curve according to diffident track,and we can find the error in the track planning according to the curve.