三自由度模拟运动平台洗出算法研究

摘要

为解决经典洗出算法无法在三自由度模拟运动平台上得到很好应用的问题,提出了一种适用于两转一移并联运动平台的新洗出算法.首先建立3-PRS并联机构的运动学模型,其次通过引入牵连运动线速度与欧拉角角速度转换矩阵设计一种新的洗出算法,最后在MATLAB/Simulink中建立人体前庭系统模型和新洗出算法的仿真模型,并进行仿真分析.结果表明,本文提出的三自由度平台洗出算法行之有效,并具有与经典六自由度平台洗出算法相近的动感模拟逼真度.%Aiming at the problem that classical washout algorithm cannot be applied well in 3-DOF parallel motion platform,a new washout algorithm for 3-DOF parallel motion platform with two rotations and one translation (2R1T) is proposed.Firstly,the kinematic model of 3-PRS mechanism is established.Secondly,a new washout algorithm is formulated by introducing the transfer matrix from parasitic motion to Euler angular velocity.Finally,a model combined the human vestibular system and washout algorithm is established in MATLAB/Simulink to obtain simulation results.It is verified that the new washout algorithm has a fine performance and a close fidelity of cueing motion with the classical washout algorithms for 6-DOF parallel motion platform.