The Development Of Automobilism Equipment Based On Six-DOF Dynamic Platform

The study is about the dynamic device of driving which based on6-dof parallelmechanism.It have the function of information exchange.By steering wheel, brakes,accelerograph,the driver can participate in gaming experience.Via the6-dof parallelmechanism,the control system can transfer real-time somatosensory to the experiencer.Compared with the5D movie,the technology of interaction is widely used to thisdevice.Because of the authentic somatosensory, it can be used as the tool of drivingtraining.The achievement of this paper is verified in the first generation of products.This study analyze the forward kinematics,including forward kinematics position,forward kinematics speed.With the theory of Lagrange,we study the dynamics.Because it is convenient of inverse solution to engineering,so we majorly research theinverse solution,and apply it to the control system.Comparing the drive mode ofliquid,gas and electricity,finally we choose the servo motor as the power.According tothe load,we calculate the power of servo motor.And choose the servo motor ofECMA-C20910,belt pulley as the transmission device, design the bearing of cardanjoint.With the Solidworks,we design the key parts.Through ADAMS,kinematicsanalysis was carried out,verifying the reliability of the platform.The control systemwas based on PC and motion control card,giving a reliable enviroment to thedevice.The softwart programmed by VC++languages can test the accuracy andstability of interconnecting device.And use the Atmega16as CPU units,write theprogram of movement control,realize the function of system initialization,real-timecontrol, interrupt response,ect.