Design Of6-DOF Steward Dynamic Platform Proprioceptive Simulation Algorithm System

Due to the development of Virtual Reality and Steward parallel mechanism, Stewartplatform is widely used in many fields, such as Parallel Kinematic Machine, Flight Simulator,Driving Simulator and Earthquake Wave Simulator. Especially in the field of Driving simulation,almost all driving simulator adopt the Staward platforms to solve the problems during the drivingtraining of heavy vihicles. It is a auxiliary method for driving training, so the research of Stewardplatform is conducted by many universities and Scientific Research Institutions.At present, the domestic driving training simulators based on VR technology are usuallyconsist of hardware system and software system. And the software system is consist of eightparts: Signal Acquisition and Processing system, vihicles modeling sytem, Virtual Environmentconstructing system, Scene Driving system, vihicle dynamic modeling system, ProprioceptiveSimulation Algorithm system, platform attitude measuring system, and evaluating database.There are three parts in the hardware system:6-DOF hydraulic vivid platform, true drivingcabin and the cylinder display system. Based on Virtual Reality Technology, this paper discussedabout some key technology, such as digital modeling of the vivid platform, Inverse Kinematicsof the platform and the Proprioceptive Simulation Algorithm of the driving process. Firstlythrough the combination of Pro/E and OpenGL, we built the3D model of the Steward platform.And then through OpenGL and Visual C++, we calculated the length of the rods and driving theplatform through Inverse Kinematics and Washout Algorithm for the Steward platform, whichare called the Proprioceptive Simulation Algorithm. Through these processes, the vivid platformis controlled to simulate the moving postures of the driving simulator to make the trainees to feellike driving in a real vihicle. The research has important theoretical value and practicalsignificance for the development of the practical driving simulators.There are six chapters in this paper: the first chapter is a summary of the whole research.Basing on the introduction of the Steward and its history, this paper stressed the use of Stewardplatform in driving simulators and sumerized the research contents, aims and the meaning of thisresearch. The second chapter is the introduction of the system composition and the generaldesign scheme of the6-DOF Steward platform. The last four chapters are the kernel chapters ofthe whole paper, which described the designing process and the demostration of the system. Thethird chapter is about the Inverse Kinematics Algorithm, and the forth is about the modeling ofthe platform. The fifth chapter illustrated the design of Proprioceptive Simulation Algorithm andwashout Algorithm, and the sixth is the verification of the whole process. At last, there is asummary of the all chapters.