基于VEGA的Steward动感平台数字化建模方法研究

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Steward Platform has been applied in many areas, such as flight simulator, car driving simulator, because it has some advantage of easy to achieve, simple structure and control algorithm mature. This paper mainly studies on the Steward the dynamic platform structure and range of motion, establishes a dynamic platform motion platform, transformation matrix, and the kinematical equation, and obtains Inverse Kinematics formula. We complete Steward motion platform digitized model using the Vega Prime modeling software platform assembly.Steward平台因具有六自由度运动实现容易、结构简单和控制算法成熟等特点而被应用于飞行模拟器、汽车驾驶模拟器等众多领域．主要研究Steward动感平台结构及运动范围，建立动感平台的坐标系、变换矩阵，建立运动学方程，得到位置逆解计算公式，采用VegaPrime建模软件进行平台装配，建立了完整的Steward动感平台数字化模型．