四自由度混联运动平台的设计与研究

发布时间：2018-04-22 16:22

本文选题：混联机构 + 汽车驾驶模拟器　；参考：《西南交通大学》2016年硕士论文

【摘要】：随着汽车的普及度日益增加,汽车驾驶模拟器得到了飞速的发展。在汽车模拟驾驶器领域,三自由度运动平台较为常见,而三自由度运动平台已无法完全满足使用者对汽车模拟驾驶的动感体验需求。针对串联机构构造复杂,并联机构成本高、控制复杂的弊端,本文设计了一种串并联结合的四自由度混联运动平台,用于汽车驾驶模拟器。本文对四自由度混联运动平台进行了静力分析,以便对平台进行优化设计。运用Inventor软件建立了三维模型,导入ADAMS获得虚拟样机,通过运动仿真验证了平台的可行性。分析了汽车的各种行驶状态,针对不同的行驶状态对平台各个部分进行运动学仿真,验证了平台的功能性,测试了平台对汽车驾驶状态模拟的运动性能。通过动力学仿真分析了平台的动力学性能,为平台结构设计与优化提供了理论依据。采用高等机构学中的D-H坐标变换法,对机构的空间位置进行了正逆解计算及分析。利用ADAMS软件对平台进行运动分析和仿真,验证了平台的运动方程的正确性。选择平台动力源,对控制系统硬件进行了设计。以平台并联机构左侧电机为例,对伺服电机各参数进行了计算,优选合理的型号。在上一代三自由度串联运动平台控制模块的基础上,编写基于C++语言的控制软件,实现了各自由度的单独运动控制以及往复运动控制。对平台样机进行测试实验,分析了测试结果,为后期平台优化提供参考。
[Abstract]:With the increasing popularity of automobiles, vehicle driving simulators have been rapidly developed. In the field of automobile driving simulator, three degree of freedom motion platform is more common, but the three freedom motion platform can not fully meet the user's need for the dynamic experience of vehicle driving simulation. Aiming at the disadvantages of complex structure, high cost and complex control of the parallel mechanism, a four-degree-of-freedom hybrid motion platform combining series-parallel connection is designed in this paper, which is used in the driving simulator of automobile. In this paper, the static analysis of four-degree-of-freedom hybrid motion platform is carried out in order to optimize the design of the platform. The 3D model is built by using Inventor software, and the virtual prototype is obtained by importing ADAMS. The feasibility of the platform is verified by motion simulation. The various driving states of the vehicle are analyzed and the kinematics simulation of each part of the platform is carried out according to the different driving states. The function of the platform is verified and the motion performance of the platform on the simulation of the driving state of the vehicle is tested. The dynamic performance of the platform is analyzed by dynamic simulation, which provides a theoretical basis for the structural design and optimization of the platform. By using D-H coordinate transformation method in higher mechanism, the forward and inverse solutions of the spatial position of the mechanism are calculated and analyzed. The motion analysis and simulation of the platform are carried out with ADAMS software, and the correctness of the motion equation of the platform is verified. The hardware of the control system is designed by selecting the power source of the platform. Taking the left motor of the platform parallel mechanism as an example, the parameters of the servo motor are calculated and the reasonable model is selected. On the basis of the control module of the previous generation of three degrees of freedom series motion platform, the control software based on C language is developed to realize the individual motion control and reciprocating motion control of each degree of freedom. The test results of the platform prototype are analyzed, which provides a reference for the later platform optimization.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U467

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