Research On Parametric Design And Performance Simulation Of Three Degrees Of Freedom Proprioceptive Parallel Mechanism

Proprioceptive parallel mechanism can effectively simulate the motion sense of the human body,and is widely used in aircraft driving simulator, train driving simulator, vehicle driving simulation, avariety of scene simulation and all kinds of body feeling game. This paper takes the3DOF(Degree ofFreedom) parallel mechanism as object in order to realize vibration, pitch and roll action and studiesthe parameterization of the designed parallel mechanism and performance simulation technology. Themain achievements are as follows:(1) Modelling of joints layout of3DOF proprioceptive parallel mechanism. The configuration ofmechanism was studied by using translation pair, revolution pair and spheric pair. The typical3-SPR、3-RPS、2-SPR+1-RPS、2-RPS+1-SPR mechanism were selected to conduct the joint layoutsmodelling from3DOF proprioceptive parallel mechanisms from a variety of configurationcombination. The reliability of a variety of joint layouts for3DOF proprioceptive parallelmechanisms was analyzed.(2) The analysis of kinematics and dynamics of3DOF proprioceptive parallel mechanism., Themodel of displacement, velocity and acceleration of the selected3DOF proprioceptive parallelmechanism were established based on Jacobian matrix and Hessian matrix and the analysis of forcefor the selected3DOF proprioceptive parallel mechanism was given.(3) Parameterization design of3DOF proprioceptive Parallel mechanism. The selected3DOFproprioceptive parallel mechanisms were decomposed and extracted the design parameters Theparameterization model was established based on OpenGL platform by using Visual C++6.0.(4) Performance simulation and application verification of3DOF proprioceptive parallel mechanism.The calculation process of a variety of permance paramters was given according to the outputperfomance of the analysis of kinematics and dynamics of3DOF proprioceptive parallel mechanism.The optimized3DOF proprioceptive parallel mechanism was attained by iterative modificationcombining with parameterization design. The performance simulation software was developed and anexample was given to verify the correctness of the proposed method.