Dynamics Analysis of a Six-degree-of-freedom Parallel Platform
Abstract
The 6-DOF motion simulator is a test equipment which can be used to study dynamic performance and reliability of airplane, vessel, space flight, vehicle and so on. It also can be used to train pilot, sailor and vehicle driver. With the deep research of scientists, its application field becomes more and more wide. Now the range of its application is expanding continuously with extensive prospect on the fiel dof auto motive industry, aviation, space flight, shipping, vehicle, robot, machine-tool industry and amusement.
This paper studies the kinematics analysis and dynamics analysis of the 6-DOF motion simulator. Kinematics analysis mainly studies the position analysis, and how to calculate the pose of the platform, and how to calculate the velocity and acceleration of the actuator. It applies the mathematic model of the 6-DOF parallel platform with matrix analysis and homogeneous transformation，and analyzes the velocity and the acceleration of the Platform; The relationship between velocity and acceleration of various components of an electro-hydrau-lically driven parallel platform is presented through analyzing its kinematics. Through projecting the inertia of the components to the velocity direction of the platform by using Jacobian matrices, the complete dy- namics model with actuators inertia considered is derived from Kane′s equation. The dynamic model can compute the force acted on the actuators and caused by the motion of the platform, which provides the ba-sis for design optimization and dynamic analysis of the parallel platform. Finally, the use of MATLAB software platform of six degrees of freedom simulation analysis.
