Research On Optimal Design And Dynamic Simulation Of 6DOF Motion Platform

Six degrees of freedom motion platform as a motion simulator is widely used in aerospace, navigation and vehicle driving simulation because of its large stiffness, high location accuracy, strong bearing capacity, dynamic advantages of superior performance and so on. With the development of its application, how to make the platform running smoothly and improving the control accuracy becomes more and more important. But as a multiple input and multiple output nolinear system, put forward higher requirements on the research of the platform. In order to meet the demand of the market and accelerate the development of industrialization, this paper puts forward the platform structure parameter optimization program based on the mechanism, building the mechanical model in ADAMS and the hydraulic and control system model in AMESim, then realized the co-simulation. At last, the platform is tested.The main research content is as follows:In chapter 1, the research background of this topic is presented firstly. Then the domestic and foreign research status of the six degree of freedom motion platform was introduced and the main problems existed were analyzed. At last, the purpose and significance of the research are summarized, and the research direction of the subject is defined.In chapter 2, the kinematics and dynamics of six degrees of freedom were analyzed, and the displacement, velocity, acceleration and driving force between the platform and the piston rod were deduced in detail, and write the program of the mechanism model using Lab VIEW.In chapter 3, the influence of the platform’s structure parameters on the performance index of the platform is analyzed, and the structure parameters of the platform were optimized by the method of subsection combination. Using MATLAB software to write the optimization program.In chapter 4, build a parametric model of the platform in ADAMS, and the kinematics and dynamics simulation is carried out to verify the correctness of the simulation. Bulid the hydraulic servo system model in AMESim, and through the simulation analysis, the hydraulic cylinder of the platform can realize the displacement control well. Finally through the ADAMS and AMESIM interface connection, realize the co-simulationIn chapter 5, completed the platform construction and experimental research. At first, the construction of mechanical, hydraulic and electric control system of the platform is completed. Then test the indicators of the platform and analyzing the problems existing in the movement and improve the performance.In chapter 6, at last, the paper makes summarization for research and the shortcomings of the platform are discussed. And the future research work is prospected.