Design And Analysis Of A Novel 6-DOF Motion Simulator Platform

Parallel mechanisms have the advantages of high accuracy,large carrying capacity,and simple position reversal.Especially the six-degree-of-freedom(6-DOF)parallel mechanism based on the Stewart platform parallel mechanism has been widely studied and applied.However,there are some shortcomings in the Stewart platform parallel mechanism itself,and the current research on 6-DOF parallel mechanisms with other configurations is scarce.Based on the above background,this paper proposes a new type of 6-DOF parallel mechanism with closed-loop branch chains for use in a motion simulation platform.The paper has carried out corresponding theoretical analysis and virtual simulation on this new type of parallel mechanism,and combined with the motion threshold of the human body somatosensory model,optimized the simulated motion trajectory,which provides a reference for the engineering application research of the new type of parallel mechanism.The main contents of this paper are as follows:1.In this paper,a design method combining size optimization and configuration design improvement is adopted,and the basic parameters of the mechanism are determined through this method,and combined with the modified K-G formula verification method,a novel 6-DOF parallel mechanism configuration 3-PSSPUU-R.A three-dimensional simulation model of the designed new parallel mechanism is built,and the specific form of each part of the structure is briefly described.Based on the design basis of reducing motion interference,easy manufacturing and assembly,and easy adjustment and optimization in the later stage,a prototype model with the same scale size as the simulation model was designed and named as a novel 6-DOF motion simulation platform.2.The position inverse analysis of the new parallel mechanism was carried out,and the working space was drawn based on the inverse solution model equation,and the twoway verification of the motion space and the driving auxiliary stroke was carried out in the form of virtual kinematics simulation according to the technical parameters of the working space.,Laid a certain theoretical foundation for subsequent optimization.3.Based on the kinematics simulation data,the driving time parameter was set reasonably to obtain the maximum driving torque during the motion process,and the power system design was completed.Based on the human somatosensory model,the final simulation trajectory is optimized through the MATLAB/ADAMS co-simulation method.4.Perform static finite element calculation and analysis on the prototype model,and put forward suggestions on prototype assembly and vibration frequency control.The results verify the reliability and safety of the prototype design.