Design And Research Of Large Gesture Flight Simulator Based On Hybrid Mechanism

In order to improve the rotation angle of traditional flight simulator,this thesis proposed a novel flight simulator based on a hybrid mechanism.Its main theory is that the rotation angle of the moving platform can be added by the serial and parallel sections,and the rotational space cannot be effected by the positional space.The main contents are as follows:Firstly,a series of 6-dof hybrid mechanism have been proposed,and two of them were selected for the further study.Next,the kinematics of motion mechanism have been analyzed for the further research,including forward kinematic,inverse kinematic,velocity and acceleration analysis.Then,the performances of the flight simulator have been analyzed.The positional space under the fixed attitude and the rotational space under the fixed position have been analyzed,which provided the basis for the selection of the initial pose of the flight simulator and the path planning.By using the velocity Jacobian matrix,the mathematical criterion for parallel and series singular have both been obtained to ensure the safety and reliable motion.After that,the dynamic model of the flight simulator has been established and solved,and the inverse solution expression of the dynamics has been obtained.The dynamic curve of the specific movement has been obtained,which provide the basis for the subsequent path planning.Finally,the simulation based on virtual prototype and MATLAB has been verified under single degree of freedom motion.The pitching and take-off movement has been analyzed.The results of this research have been used to verify the correctness of the design and kinematic analysis.