Research On Structure Design And Optimization Of Proprioceptive Mechanism Of Vehicle Driving Simulator

The proprioceptive mechanism of vehicle driving simulator can simulate the movement close toreal vehicle driving, and provide drivers with a good sense of immersion. Its advantages include highsecurity, good reproducibility, easy to set up a variety of experimental conditions, as well as energysaving and environmental protection, etc. The paper takes the proprioceptive mechanism of vehicledriving simulator as research object and conducts the researches into its structure design, motionmodeling and simulation optimization technique by using parallel mechanism design technology,kinematics and dynamics modeling techniques and computer simulation technology. The mainresearch contents are as follows:(1)3D modeling technique of proprioceptive mechanism based on3-RPS parallel mechanism withthree degrees of freedom is studied. In this3-RPS parallel mechanism, the topological layout of thethree hinged points between three chains and two platforms is a isosceles triangle, whose vertex angleis less than53°. The proprioceptive device with3-RPS parallel mechanism can simulate threemovements including lift, pitch and roll. Its mathematical model is established and a set of reasonablesize parameters of the device are given with considering design requirements.(2) Simulation model of the proprioceptive mechanism based on3-RPS parallel mechanism isestablished, and its workspace is analyzed. The parameterized virtual prototype of the proprioceptivedevice is established by the united technologies between Pro/E and ADAMS. In addition, forward andinverse kinematics solution and workspace analysis are carried out by combining its mathematicalmodel with Matlab fitting function.(3) Kinematics and dynamics analysis for the simulation model of the proprioceptive device basedon3-RPS parallel mechanism are carried out. Kinematics and dynamics simulation are completed byusing the simulation model established in ADAMS. Three basic movements including lift, pitch androll are simulated by using a set of reasonable linear drive equations of three chains. Then kinematicsand dynamics characteristics of the proprioceptive device are analyzed through simulationmeasurement results.(4) Optimization model of the proprioceptive device based on3-RPS parallel mechanism isestablished. The optimization objective is to make distribution of the three linear driving forces morereasonable. The established model is optimized by using the method combined dynamic simulationtechnique with data integration analysis.