【作者】 聂良兵；

【导师】 王培俊；

【作者基本信息】 西南交通大学 ， 机械设计及理论， 2013， 硕士

【摘要】 随着虚拟现实技术发展,多自由度运动平台越来越多地应用于各种运动仿真系统中,并且从军事领域逐渐浸透到民用娱乐领域。常用多自由度运动平台分为并联机构和串联机构,并联机构以其结构简单、刚度大、承载能力和运行精度高等特点,受到了众多研究人员的青睐,广泛应用于虚拟仿真系统中,而对串联机构的研究则较少。本论文对多自由度并联平台进行了较为深入的研究分析,以典型3-RPS并联机构为原型,对其进行了运动学逆解和正解分析。以Visual C++6.0为开发平台,以OpenGL为三维图形显示库,设计开发了三维运动学仿真软件,用户可实时修改相关参数进行动态仿真,观察其运动形式。研制的仿真方法和程序对实际的运动控制具有指导意义,仿真结果对机构的设计提供了实际的参考数据。本文同时对串联机构的运动控制进行了研究分析。依据MPC2810运动控制卡和虚拟娱乐系统的特点,提出了前瞻式运动控制方法和追踪式运动控制方法。并以追踪式控制方法完成了实际的运动控制,取得了较好的效果。完成了对MPC2810运动控制函数的模拟仿真,提供了在虚拟环境中进行机构控制程序编写的可能,可以在虚拟三维环境中实时察看运动控制程序所产生的结果,避免了进行真机调试可能出现的损坏和事故,提高了工作效率。更多还原

【Abstract】 With the development of virtual reality technology, multi-degree of freedom motion platforms is widely used in motion simulation systems. The common-used motion platforms with multi-degree of freedom are parallel mechanism and series mechanism. The parallel mechanism is the favor of many researchers because of its high stiffness, high load carrying capacity and running accuracy, but there is less research on the series mechanisms.This thesis analyzes the typical3-RPS parallel mechanism using the forward and reversed kinematics analysis to the typical3-DOF parallel mechanism. Moreover, a3D motion simulation visualization program is written with the help of VC++and OpenGL library. Users can dynamically modify the relevant parameters for the corresponding simulation in the program to view the forms of motion. The simulation theory offers a method to control the movement of the mechanism, and the simulation result can provide many real reference data.The motion control of the series mechanism is also analyzed in this paper. The prospective motion control method and track-style motion control method are put forward based on the MPC2810motion control card and the virtual entertainment system, and the actual motion control is completed with track-style motion control method and achieved a good result. The simulation of the MPC2810motion control function provides a possibility to write motion control program in a virtual environment and avoids the real machine debugging damage and accidents that may occur, leading to a high efficiency.更多还原