Study Of Dynamic Seats Based On 4-USP+PSPR Parallel Mechanism

Dynamic movie(Dynamic Motion Simulator/Dynamic Effects Cinema) is a kind of dynamic equipment which can provide motion function. Through controlling the drives, the dynamic seat can achieve a variety of special movement. It is widely used in flight simulator, vehicle driving simulator, medical auxiliary equipment, 4D theater and other fields. In recent years, with the continuous development of virtual reality technology, the application of dynamic seat is more and more extensive.Basing on a kind of novel PM(parallel mechanism), a new 6-DOF(degree of freedom) dynamic seat with high capacity of rotation is proposed in this paper. The kinematics, dynamic and workspace of the dynamic seat are analyzed. To solve the workspace of multiple PMs, the solution of the dynamic seat is expanded.First, basing on vector method, the position analysis model of the dynamic seat is established, the expression of the inverse position solution is given. A numerical method is used to find the forward position solution. Using the derivation method, the kinematic model of the dynamic seat is established, and obtains the 6×6 kinematic Jacobian matrix as well as 6×6×6 Hessian matrices.Second, basing on the principle of virtual work and considering inertial force/torque, the dynamic model of dynamic seat is established.Third, basing on Computer-adied design software, a extremum method is used to solve workspace of dynamic seat and basing on this method, a unified model for solving the workspace of PMs is given. By this way, a variety of PM wrokspaces are achieved. The model is a rapid and efficient method for solving workspace.Finally, Using simulation software of simulink, the kinematic and dynamic models of dynamic seat are verified via programming method of Matlab software.