可无限旋转的6-RSPS模拟器平台位置反解

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A new structure of 6-RSPS simulator platform with a capability of 360° rotary was presented.And a method for its inverse kinematics was proposed.According to a link＇s vector diagram,the relationship among the length of the link,the rotating angle of the under-hinge,and the position and orientation of the platform was derived.According to constraints and optimization conditions of the relevant parameters,the inverse kinematics of the 6-RSPS platform had multiple solutions and their ranges were obtained.Then,the optimal solution was solved under the optimization conditions.Numerical results showed that applying this method can get a satisfactory inverse kinematics solution,it can avoid a washout algorithm in the rotating direction of the simulator effectively,and simulate the feeling during a vehicle＇s swerving completely.提出了一种基于6-RSPS的车辆模拟器平台机构,并为其反解提供解决方法。根据杆长矢量关系图,推导出杆长和支杆下铰链的旋转角度与平台位置的关系,并提出了相关参数的约束及优化条件,得出了杆长和旋转角度的反解存在多个解且得到了它们的范围,并根据优化条件得到了最优解。数值实例表明,利用本方法能得到令人满意的反解,可有效地避免车辆模拟器在旋转方向上的洗出算法,从而能更加逼真地模拟车辆转弯时的感觉。