Three Dof Program Design And Dynamics Analysis

3-DOF swaying platform is a typical complex mechatronic product. Such a space motion mechanical device has been widely used in attitude simulation for ship, vehicle, aircraft and so on. In this paper, dynamics analysis and design is investigated for 3-DOF swaying platform by means of virtual prototyping. The main research is as below.In light of the requirement of systematic performance, the overall scheme of 3-DOF swaying platform was designed, including overall structure, mechanical subsystem, driving subsystem and control subsystem. The 3D solid model of swaying platform is built by use of the parametric software package Pro/E, from which the mass, mass center, inertia and other structure parameters of the key parts can be calculated.Based on virtual prototyping software ADAMS, the dynamics model of rigid bodies is constructed for the 3-DOF swaying platform, in which the constraints, force and simulation method is defined. The dynamics simulation is performed for the swaying platform, and then dynamics response can be obtained.The sensitivity analysis model is set up for exploring the effects of structural parameters on dynamics response, and the emphasis is focused on the impacts of some key parameters on the response, including the radius of circle which defines the position of upper and lower joints, layout of electrical cylinder and assembly clearance. Then the optimization model is constructed, in which the driving power of the swaying platform is defined as the objective function. The circle radius is optimized, which can provide reference for optimization of general plan design of the swaying platform.The attitude control of swaying platform is discussed. Based on software AMESim, the compound feed forward control model is established for position servo system, in which the modeling of servo motor, mechanical transmission and load is examined. With the control module in ADAMS, the multi-body dynamics model built in ADAMS is connected with the control model constructed in AMESim through control variables, and then co-simulation is achieved. It is shown through simulation result that the control method is effective and the co-simulation is practical.