The Research And Design Of A Simulator With Large Angle Rotation

In order to improve the rotation angle and stiffness of traditional motion simulator, this thesis put forward a new kind of redundant parallel motion simulator with three rotational degreed. Redundancy parallel mechanism has many benefits,such as compact structure, high stiffness, good torque transmission ability. The main contents are as follows:Firstly, a new three rotational degree redundant spherical parallel mechanism as motion simulator is performed, and then the structure, degree, assembly condition are analyzed.Nest, the kinematics of motion simulator is analyzed, including forward kinematic, inverse kinematic, speed and acceleration analysis. And then the graphics simulation of motion simulator was studied which provide reference for the subsequent research.Then, the performance of the motion simulator are analyzed. Work space is obtained based on link angle. Mathematical model of interference is obtained through analysis the layout of the stem. By using screw theory the singular reason of motion simulator, and the Jacobian matrix was obtained. The ability of torque transmission is analyzed by using the index of Condition number. At last the different performance of redundancy and non-redundancy motion simulator is compared.After that, By using the theory of elasticity and small deformation, the statics model of motion simulator is built. The force and deformation of all joint and chain were derived. On the basis of statics model the generalized displacement and stiffness matrix of spherical center was deduced. The results show that redundant has better rigidity.Last,3D model of simulator is bulit and the kinematics and trajectory planning simulation are used to verify the theoretical design. The results of this research will provide theoretical basis for engineering practice.