Inverse Kinematics Model's Parameter Simulation for Stewart Platform Design of Driving Simulator

摘要

Due to the wide use of driving simulator in driving behavior and safety investigation as well as the application in drivers training, research about the experience authenticity of driving simulator gains more attention than ever. This paper focuses on the parameter simulation for Stewart platform design of driving simulator and the inverse kinematics is used as the basis. The dynamic errors between the desired lengths and the actual lengths of legs of the platform are calculated by the simulation model established in MATLAB/Simulink to evaluate the accuracy of the platform. Three common motion scenes including bump, pitch, and yaw are designed for experiment analysis. The dynamic errors are found to increase with the increase of the movement frequency, amplitude, and rotation angle of different motion scenes, and a nearly linear correlation is found between the errors and the movement parameters. The results of the study provide valuable references for the design of physical model in a driving simulator.