本文選題：混聯(lián)機(jī)構(gòu) + 汽車駕駛模擬器��； 參考：《西南交通大學(xué)》2016年碩士論文

【摘要】：隨著汽車的普及度日益增加,汽車駕駛模擬器得到了飛速的發(fā)展。在汽車模擬駕駛器領(lǐng)域,三自由度運(yùn)動(dòng)平臺(tái)較為常見(jiàn),而三自由度運(yùn)動(dòng)平臺(tái)已無(wú)法完全滿足使用者對(duì)汽車模擬駕駛的動(dòng)感體驗(yàn)需求。針對(duì)串聯(lián)機(jī)構(gòu)構(gòu)造復(fù)雜,并聯(lián)機(jī)構(gòu)成本高、控制復(fù)雜的弊端,本文設(shè)計(jì)了一種串并聯(lián)結(jié)合的四自由度混聯(lián)運(yùn)動(dòng)平臺(tái),用于汽車駕駛模擬器。本文對(duì)四自由度混聯(lián)運(yùn)動(dòng)平臺(tái)進(jìn)行了靜力分析,以便對(duì)平臺(tái)進(jìn)行優(yōu)化設(shè)計(jì)。運(yùn)用Inventor軟件建立了三維模型,導(dǎo)入ADAMS獲得虛擬樣機(jī),通過(guò)運(yùn)動(dòng)仿真驗(yàn)證了平臺(tái)的可行性。分析了汽車的各種行駛狀態(tài),針對(duì)不同的行駛狀態(tài)對(duì)平臺(tái)各個(gè)部分進(jìn)行運(yùn)動(dòng)學(xué)仿真,驗(yàn)證了平臺(tái)的功能性,測(cè)試了平臺(tái)對(duì)汽車駕駛狀態(tài)模擬的運(yùn)動(dòng)性能。通過(guò)動(dòng)力學(xué)仿真分析了平臺(tái)的動(dòng)力學(xué)性能,為平臺(tái)結(jié)構(gòu)設(shè)計(jì)與優(yōu)化提供了理論依據(jù)。采用高等機(jī)構(gòu)學(xué)中的D-H坐標(biāo)變換法,對(duì)機(jī)構(gòu)的空間位置進(jìn)行了正逆解計(jì)算及分析。利用ADAMS軟件對(duì)平臺(tái)進(jìn)行運(yùn)動(dòng)分析和仿真,驗(yàn)證了平臺(tái)的運(yùn)動(dòng)方程的正確性。選擇平臺(tái)動(dòng)力源,對(duì)控制系統(tǒng)硬件進(jìn)行了設(shè)計(jì)。以平臺(tái)并聯(lián)機(jī)構(gòu)左側(cè)電機(jī)為例,對(duì)伺服電機(jī)各參數(shù)進(jìn)行了計(jì)算,優(yōu)選合理的型號(hào)。在上一代三自由度串聯(lián)運(yùn)動(dòng)平臺(tái)控制模塊的基礎(chǔ)上,編寫基于C++語(yǔ)言的控制軟件,實(shí)現(xiàn)了各自由度的單獨(dú)運(yùn)動(dòng)控制以及往復(fù)運(yùn)動(dòng)控制。對(duì)平臺(tái)樣機(jī)進(jìn)行測(cè)試實(shí)驗(yàn),分析了測(cè)試結(jié)果,為后期平臺(tái)優(yōu)化提供參考。
[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.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U467

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