Design And Research On 4-DOF Hybrid Motion Platform

With the increasing popularity of the car, the vehicle driving simulator has been developed rapidly. Three degree of freedom platform is more common in the field of vehicle simulator, and the three degree of freedom motion platform has been unable to meet the needs of the user’s dynamic experience of vehicle simulation driving. A 4-DOF hybrid motion platform was designed aimed at overcoming the defects of the serial mechanism like complex structure and the defects of parallel platform like high cost and complicated control used in vehicle driving simulator.In order to optimize the design of the platform, the statics of the moving platform was analyzed. Using the Inventor software, a 3D model was built. Importing the 3D model into Adams to establish virtual prototype, and the feasibility of the platform is verified by motion simulation. The traveling state of the vehicle were analyzed, the kinematic simulation of the various parts of the platform is carried out for different driving state. The functionality of the platform is verified, and the performance of the platform is tested by kinematic simulation. The dynamic performance of the platform is analyzed by dynamic simulation, it provides theoretical basis for the design and optimization of the platform structure.The kinematics positive solution and inverse solution was established and analyzed by D-H method. ADAMS software is used to analyze and simulate the motion of the platform, and the correctness of the motion equation of the platform is verified.The hardware of the control system was designed for the vehicle driving simulation platform and the power source of the platform was selected. Illustrated by the example of the left motor of the parallel mechanism, the parameters of the servo motor were calculated, and the reasonable model of servo motor was selected. On the basis of the control module of the 3-DOF series motion platform, the control software based on C++ language is compiled to realize the control of each degree of freedom and the control of the reciprocating motion. The test experiment was carried out on the prototype of the platform, and the test results were analyzed which provides reference for the optimization of the platform.