基于ODE的六自由度平台系统设计与仿真

在六自由度运动平台的系统设计阶段和运行调试阶段采用可视化技术,可以直观地观察到平台系统的设计参数是否合理,减少控制参数选择不当造成对平台的损坏,为平台的研究提供了极大地方便。首次提出了基于ODE(Open Dynamics Engine,开源动力学引擎)的六自由度运动平台的运动仿真及其可视化设计方法,该方法能够与实体平台程序实现无缝连接,在此基础上开发出六自由度平台可视化软件,对六自由度运动平台进行了正弦运动仿真,结果表明该虚拟平台能够实时模拟真实平台的协调运动,为实体平台系统的设计与运行调试奠定了基础。

Design and Simulation for Six Degree of Freedom Platform System Based on ODE

Six degree of freedom motion platform is observed intuitively that whether design parameter of platform is reasonable or not in the mechanism design stage and debugging stage of the platform by using visualization technology.It can also reduce damage to the platform because of the unsuitable control parameter and provide much convenience for the study of platform.Motion simulation and visualization design method for the six degree of freedom motion platform were firstly suggested based on ODE(Open Dynamics Engine) which could realize seamless connection to entity platform program.Six degree of freedom platform visualization software was developed on this basis.Sinusoidal motions simulation ran for the six degree of freedom motion platform.The results show that the virtual platform can simulate coordinated motion of real platform real-timely,which lays the foundation for the real platform’s design and debugging on running.