| With the further development of automation and machining technology, many countries attach great importance to study of multi-DOF motion simulator, which is used to stimulate the rocking motion of aircraft and ships, whose Study of dynamics and control method, on one hand in favor of the design and manufacturing of motion simulator, on the other hand can be directly applied to the actual motion simulation experiments. It marks a development degree of national aviation, aerospace, marine, road transport and combat vehicles and other aspects.Our study aim to the multi-DOF motion simulator, which is composed of the three-axis turntable and the six DOF parallel motion simulator. Six DOF motion simulator can achieve the six degrees of freedom of space, and the out frame,middle frame and inner frame of three-axis turntable can achieve absoluteness rotation,also, the three-axle table can achieved within the limited space which the six DOF parallel motion simulator cannot, this combination can be extended to any location in space, which makes up the limit space of two motion simulator when being a single movement, which make the study to be more theoretical and practical value.Firstly, this article introduced the development of motion simulator at home and abroad, and then proceeded the kinematic analysis of six degrees of freedom parallel to the axis turntable turntable, and to get the speed,acceleration, angular velocity and angular acceleration, and then proceed dynamics modeling according to the KANE equation to the mixed turntable and calculate the driving force of the six hydraulic rod and the shaft torque of three axes dynamics,according to the features that the anti-parallel motion simulator is a easy solution, by controlling the inverse force to achieve its Campaign aims to control the position and orientation, and by simple studying of the power control method of motor and hydraulic lever, to illustrate the feasibility and weaknesses of power control method. |
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