Study on the Motion Generation Method of Gun Training Simulator
A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible-platform of gun training simulator to implement the motion simulation.Its dynamics is analyzed and driving force of joint is gained.This paper introduces the study on motion generation of gun training simulator.The moving model of gun is established on the basis of the model of vehicle.We solve the pose of gun by applying the theory of homogeneous matrix.In order to ensure actuators moving at a preset speed and enable the motion-sensible-platform to perform a real-time moving posture simulation of a wheeled gun vehicle in running,the speed equation of actuator is given.The feasibility of models was tested through the simulation experiments.All of these works are beneficial to optimize design and control realization of motion platform structure.
gun training simulator pose parallel robot motion-sensible-platform motion simulation
WANG Yu SU Rina
School of Electronic and Information Engineering,Ningbo University of Technology Ningbo,China
国际会议
沈阳
英文
1673-1680
2012-09-07（万方平台首次上网日期，不代表论文的发表时间）