一种新型的人体仿真体验平台及其位置反解  

A New Human Simulation Experience Platform and Its Inverse Position Kinematics

作　　者：刘勇[1,2] 柴挺川[1,2] 潘小龙[1,2] 李刚[1,2] LIU Yong;CHAI Tingchuan;PAN Xiaolong;LI Gang(Ningbo 3D New Culture Co., LTD, Ningbo 315040;Ningbo University of Technology, Ningbo 315211)

机构地区：[1]宁波新文三维股份有限公司,宁波315040 [2]宁波工程学院,宁波325211

出　　处：《现代制造技术与装备》2016年第8期50-52,80,共4页Modern Manufacturing Technology and Equipment

摘　　要：提出了一种新型的人体仿真体验平台—7自由度平台,并为其反解提供解决办法。该平台具有除横移、纵移、垂直、俯仰、翻滚、偏航进行六自由度运动外,还能在六自由度运动的同时进行≥360°的高速旋转。通过其运动学分析提出其反解方法,把7自由度机构的位置反解简化为6自由度机构的位置反解和一个独立的冗余自由度旋转的位置处理。通过实例应用表明,利用本方法能够得到令人满意的反解,并在一种特种影院的应用中获得了很好的体验感受。A new human simulation experience platform of 7-DOF platform was presented.And a method for its inverse kinematics was proposed.Not only the transverse, longitudinal displacement, vertical,pitch, roll, yaw motion in six degrees of freedom, but also in motion in six degrees of freedom at the same time the platform can be more than or equal to 360 degrees to rotate at a high speed. Through its kinematic analysis, the inverse solution method is proposed. It was simplified to 6 DOF mechanism and an independent redundant DOF rotation.The practical application shows that this method can obtain a satisfactory solution, and it can get a very good experience in the practical application..

关 键 词：并联机构 人体仿真体验平台 7自由度平台 运动学反解 

分 类 号：TH69[机械工程—机械制造及自动化]