三自由度伺服驱动运动模拟平台的研究

发布时间：2018-06-29 14:07

本文选题：并联机构 + 位置分析　；参考：《沈阳工业大学》2012年硕士论文

【摘要】：并联机构运动平台在模拟仿真领域具有较强的应用价值，可以在仿真模拟平台上进行所需环节的半物理仿真试验，也可以将这种仿真模拟器用于娱乐设施的开发与应用，使游戏者体验到身临其境、惊险刺激的感觉，给人们的业余生活带来更大的乐趣，例如4D竞技赛车和娱乐赛马等。本文由三自由度并联机构的机械结构入手，结合4D互动立体游戏平台的设计指标，在分析平台运动机构的机械特性和运动学特性的基础上，，确定了仿真模拟平台的各执行部件的选型和系统的控制方法。三自由度并联机构模拟运动平台的主体由三根可伸缩的支撑杆（电动缸）构成，通过改变伸缩支撑杆的长度来实现运动模拟平台两旋转一平移的特定位姿。基于此运动模拟平台的机械结构，通过空间坐标系的变换获得其运动学位姿的数学模型，并由此推导出三自由度仿真模拟平台的运动学反解和运动学正解。根据其运动学反解数学公式，运用MATLAB对其运动轨迹进行仿真分析，验证此模拟平台用于4D立体游戏的可行性。本文使用PMAC运动控制卡来构建仿真模拟平台的控制系统，将PMAC运动控制卡与并联机构相结合组成运动控制系统的主体，应用PMAC的内置PLC模块对并联机构运动形式的同步性以及协调性进行程序编写，使运动模拟平台具有简单的运动功能。基于PMAC的运动控制系统可以更充分地利用计算机的计算和处理能力，使运动模拟平台的仿真模拟效果更加逼真。另外，随着国内三自由度并联机器人的不断开发与应用，相信此平台还可以在其它领域得倒广泛应用，如：医疗器械、并联机床、机械手臂等。
[Abstract]:The parallel mechanism motion platform has a strong application value in the field of simulation and simulation. It can be used in the semi-physical simulation test of the required links on the simulation platform, and can also be used in the development and application of entertainment facilities. Let players experience the experience, thrilling feeling, to people's amateur life to bring more fun, such as 4D competitive racing and entertainment horse racing and so on. Starting with the mechanical structure of the 3-DOF parallel mechanism and combining the design index of 4D interactive stereoscopic game platform, this paper analyzes the mechanical characteristics and kinematics characteristics of the kinematic mechanism of the platform. The selection of each executive part and the control method of the system are determined. The main body of the three-degree-of-freedom parallel mechanism simulation motion platform is composed of three extensible support rods (electric cylinders). By changing the length of the telescopic support rod, the motion simulation platform can be rotated and translated. Based on the mechanical structure of the motion simulation platform, the mathematical model of the motion degree posture of the platform is obtained by the transformation of the spatial coordinate system, and the inverse kinematics solution and the forward kinematics solution of the three-degree-of-freedom simulation platform are derived. According to the mathematical formula of its kinematics inverse solution, the simulation analysis of its motion track is carried out by MATLAB, and the feasibility of using this simulation platform in 4D stereoscopic game is verified. In this paper, the PMAC motion control card is used to construct the control system of the simulation platform. The PMAC motion control card is combined with the parallel mechanism to form the main body of the motion control system. The PLC module of PMAC is used to program the synchronism and coordination of parallel mechanism, which makes the motion simulation platform have simple motion function. The motion control system based on PMAC can make full use of the computing and processing ability of the computer and make the simulation effect of the motion simulation platform more realistic. In addition, with the continuous development and application of 3-DOF parallel robot in China, it is believed that the platform can be widely used in other fields, such as medical devices, parallel machine tools, mechanical arms and so on.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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