大转角运动模拟器的设计与研究
摘要
本研究从解决传统运动模拟器转角、刚度有限的角度出发,提出一种冗余并联式运动模拟器解决该难题。其主要目的是充分利用冗余并联机构结构紧凑,刚度高,力矩传递性能好等优点。主要研究内容为：
首先,提出了能满足运动模拟器姿态角变化的运动机构,即三转动冗余球面并联机构。对该冗余并联机构的结构、自由度、装配条件进行了分析。
然后,对运动模拟器的运动学进行了分析,主要包括运动学正解、反解、速度以及加速度的分析。根据实例计算出运动学正反解结果,并绘制位置、速度、加速度的输入输出曲线。基于运动学反解对运动模拟器的运动结构进行了图形学仿真。仿真结果将为后续研究提供理论参考。
接着对运动模拟器的工作性能进行了分析。考察了连杆的结构夹角对模拟器姿态工作空间的影响。建立整机干涉数学模型的,并考察杆件布置对干涉的影响。运用螺旋理论阐述模拟器奇异问题产生的原因,并在该理论基础上构造雅克比矩阵作为模拟器奇异判断的数学条件；利用条件数对模拟器的力矩传递性能进行了分析。基于以上分析结果对比冗余与非冗余的性能进行对比,并得出冗余对力矩传递性能有一定的提升且能减少模拟器的并联奇异。
利用弹性力学及小变形理论建立运动模拟器整体静力学模型,得出各个关节的受力情况和各条支链的变形情况,并在此基础上构造运动模拟器的柔度矩阵,并得出输出平台中心点在受力时的变形情况。对比冗余与非冗余的刚度与受力性能,并得出冗余时动平台的广义位移较非冗余时的小,且关节处受力更均匀。
最后建立运动模拟器的三维模型,并对运动模拟器运动学和轨迹规划进行了仿真。仿真结果基本与理论设计相吻合。总的来说本研究将为工程实际提供一定的理论参考价值。
In order to improve the rotation angle and stiffness of traditional motion simulator, this thesis put forward a new kind of redundant parallel motion simulator with three rotational degreed. Redundancy parallel mechanism has many benefits,such as compact structure, high stiffness, good torque transmission ability. The main contents are as follows:
Firstly, a new three rotational degree redundant spherical parallel mechanism as motion simulator is performed, and then the structure, degree, assembly condition are analyzed.
Nest, the kinematics of motion simulator is analyzed, including forward kinematic, inverse kinematic, speed and acceleration analysis. And then the graphics simulation of motion simulator was studied which provide reference for the subsequent research.
Then, the performance of the motion simulator are analyzed. Work space is obtained based on link angle. Mathematical model of interference is obtained through analysis the layout of the stem. By using screw theory the singular reason of motion simulator, and the Jacobian matrix was obtained. The ability of torque transmission is analyzed by using the index of Condition number. At last the different performance of redundancy and non-redundancy motion simulator is compared.
After that, By using the theory of elasticity and small deformation, the statics model of motion simulator is built. The force and deformation of all joint and chain were derived. On the basis of statics model the generalized displacement and stiffness matrix of spherical center was deduced. The results show that redundant has better rigidity.
Last,3D model of simulator is bulit and the kinematics and trajectory planning simulation are used to verify the theoretical design. The results of this research will provide theoretical basis for engineering practice.
首先,提出了能满足运动模拟器姿态角变化的运动机构,即三转动冗余球面并联机构。对该冗余并联机构的结构、自由度、装配条件进行了分析。
然后,对运动模拟器的运动学进行了分析,主要包括运动学正解、反解、速度以及加速度的分析。根据实例计算出运动学正反解结果,并绘制位置、速度、加速度的输入输出曲线。基于运动学反解对运动模拟器的运动结构进行了图形学仿真。仿真结果将为后续研究提供理论参考。
接着对运动模拟器的工作性能进行了分析。考察了连杆的结构夹角对模拟器姿态工作空间的影响。建立整机干涉数学模型的,并考察杆件布置对干涉的影响。运用螺旋理论阐述模拟器奇异问题产生的原因,并在该理论基础上构造雅克比矩阵作为模拟器奇异判断的数学条件；利用条件数对模拟器的力矩传递性能进行了分析。基于以上分析结果对比冗余与非冗余的性能进行对比,并得出冗余对力矩传递性能有一定的提升且能减少模拟器的并联奇异。
利用弹性力学及小变形理论建立运动模拟器整体静力学模型,得出各个关节的受力情况和各条支链的变形情况,并在此基础上构造运动模拟器的柔度矩阵,并得出输出平台中心点在受力时的变形情况。对比冗余与非冗余的刚度与受力性能,并得出冗余时动平台的广义位移较非冗余时的小,且关节处受力更均匀。
最后建立运动模拟器的三维模型,并对运动模拟器运动学和轨迹规划进行了仿真。仿真结果基本与理论设计相吻合。总的来说本研究将为工程实际提供一定的理论参考价值。
In order to improve the rotation angle and stiffness of traditional motion simulator, this thesis put forward a new kind of redundant parallel motion simulator with three rotational degreed. Redundancy parallel mechanism has many benefits,such as compact structure, high stiffness, good torque transmission ability. The main contents are as follows:
Firstly, a new three rotational degree redundant spherical parallel mechanism as motion simulator is performed, and then the structure, degree, assembly condition are analyzed.
Nest, the kinematics of motion simulator is analyzed, including forward kinematic, inverse kinematic, speed and acceleration analysis. And then the graphics simulation of motion simulator was studied which provide reference for the subsequent research.
Then, the performance of the motion simulator are analyzed. Work space is obtained based on link angle. Mathematical model of interference is obtained through analysis the layout of the stem. By using screw theory the singular reason of motion simulator, and the Jacobian matrix was obtained. The ability of torque transmission is analyzed by using the index of Condition number. At last the different performance of redundancy and non-redundancy motion simulator is compared.
After that, By using the theory of elasticity and small deformation, the statics model of motion simulator is built. The force and deformation of all joint and chain were derived. On the basis of statics model the generalized displacement and stiffness matrix of spherical center was deduced. The results show that redundant has better rigidity.
Last,3D model of simulator is bulit and the kinematics and trajectory planning simulation are used to verify the theoretical design. The results of this research will provide theoretical basis for engineering practice.
引文
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[2]Gosselin C. M., Vollmer f., Cote G., et al.Synthesis and design of reactionless three-degree-of-freedom parallel mechanisms[J]. IEEE Transactions on Robotics and Automation, 2004, 20(2): 191-199.
[3]曲云霞.二自由度解耦球面并联机构运动学行为研究.河北工业大学,2008.
[4]童彭.空军飞行模拟器发展简史[J].飞行模拟,1993,(2)：37-40.
[5]毕德毅.飞行模拟器军用标准化初探[J].飞行模拟,994,(3)：89-92.
[6]魏上立.关于新教练机模拟训练的建议[J].飞行模拟,1995,(2)：17-21.
[7]王精业,张小超.仿真器的现状与发展[J].系统仿真学报,2005.4：879-884.
[8]姜世发.飞行模拟器的回顾及其发展[J].电光与控制,1990,(3)：115-119.
[9]郭德庆.飞行模拟器及其运动系统的发展现状及前景.应海林黑龙江科技信息,2003/03.
[10]知远AMST飞行模拟器迷向和离心训练器.中国网,2008,www.china.com.cn/index.shtml.
[11]于行仁.彭晓源仿真器及其在我国的发展[J].系统仿真学报,1990,(02)：15-20.
[12]沈兵.飞行模拟器标准简介[J].航空标准化与质量,1993,(3)
[13]郭德庆,应海林.飞行模拟器及其运动系统的发展现状及前景[J].黑龙江科技信息,2003,(3)：43-50.
[14]刘连松.五自由度驾驶模拟器的开发[D].北京：北京交通大学,2006,3.
[15]William J.B., Dixie J.M., Rayner R.P.The History and Future of military Flight simulators [A]. AIAA Modeling and simulation Technologies conference and Exhibit, 2004.8.
[16]刘力,刘兴堂.空中飞行模拟技术及应用[J].计算机仿真,22(10),2005：51-54.
[17]杨婕.作战飞机飞行模拟器的特点与发展趋势[J].空军装备,2001,(4)：58-60.
[18]章伯定.国外工程地面飞行模拟器的发展趋势[J].飞行力学,1984,(01)
[19]吴晓君,王昌金.基于Creator/Vega的战场飞行视景系统的实时仿真[J].系统仿真学报,2005,17(9)：2297-2300.
[20]李京伟,张利萍.基于虚拟现实技术的飞行视景仿真[J].计算机工程与设计,2005,26(7)：1935-1937.
[21]龚少华,沈为群,宋子善.基于PC机的实时视景仿真系统的研究与实现[J].计算机工程与应用,2002,38(4)：118-121.
[22]Gwinnett, J.E. Amusement devices, US Patent, No. 1789680, January 20, 1931.
[23]赵震炎.地面飞行模拟器的现状和发展趋势[J].航空学报,1987,(10)：20-25.
[24]李绍安.某型战机飞行模拟器三自由度运动平台的研制[D].武汉.华中科技大学.2005.5.
[25]谢广辉,魏少宁.飞行模拟器视景系统发展现状和趋势[J].航天医学与医学工程,2003,03.
[26]吴家铸.视景仿真技术及应用[M].北京：西安电子科技大学出版社,2001.
[27]高俊.虚拟现实在地形环境仿真中的应用[M].北京：解放军出版社,1999.
[28]Pimental K., Teixeira K. Virtual reality[M].2nd Edition Intel Wind crest McGraw-Hill,1994.
[29]WStrachan I. Virtual reality and simulation technology trends and markets[R]. Jane's Special Report, 2000.
[30]宋国峰,程忠涛,袁立鹏.运动模拟器及其运动平台系统的发展现状及应用前景[J].机械 设计与制造,2003.
[31]Pollard, W.L.G. Spray painting machine. US Patent, No.2213108, August 26, 1940.
[32]Gough, V.E., Whitehall, S.G. Universal type test machine[J]. Proceedings of the FISITA Ninth International Technical Congress, 1962:117-137.
[33]Stewart, D. A platform with six degrees of freedom[J]. Proceedings of the IMechE, 18(1): 371-385.
[34]Ellis W. Piezoelectric micromanipulators[J]. Science Instruments and Techniques,1962.138: 84-91.
[35]Hara K Sugimoto. Synthesis of parallel micro-manipulators[J]. Journal of Mechanisms, Transmissions and Automation in Design, 1989,111:34-39.
[36]Hemini N., Sato K. Wada S., Shimokohbe A. A six-degree of freedom fine motion mechanism. Mechatronics,1992,12(5):445-457.
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