摘要
参见汽车运动模型建立相应的炮车模型,应用齐次变换理论给出炮车位姿的解算方法,并运用一种3 RPS型三自由度并联机器人结构的动感平台来实现运动模拟,而且给出了动感平台中作动器的速度方程,以确保驱动机构控制作动器按指定的速度运动,从而使动感平台能够实时模拟炮车行驶过程中的运动位姿·仿真实验验证了所建计算模型的正确性,也说明该火炮模拟训练系统方案是正确可行的·
A kinematics model of wheeled gun vehicles is established on the basis of that of common motor vehicles, to which a solution is given for the posture of moving vehicle using the theory of homogeneous matrix. A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible platform to implement the motion simulation, with a speed formula of actuator given so as to ensure the drive-controllable actuators to move at a preset speed and enable the motion-sensitive-platform to perform a real-time simulation of the moving posture of a wheeled gun vehicle in running. The feasibility of the model and the validity of such a system were verified by the simulation.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第11期1034-1037,共4页
Journal of Northeastern University(Natural Science)
基金
辽宁省博士启动基金资助项目
机械制造系统工程国家重点实验室资助项目(03 2)
关键词
轮式炮车
驾驶训练模拟
运动仿真
动感平台
并联机器人
运动姿态
wheeled gun vehicle
drive training simulator
kinematics simulation
motion-sensible-platform
parallel robot
moving posture
