基于6-UPU型平台的动感座椅运动分析与轨迹规划  

Dynamic Seat Design and Trajectory Planning Based on 6-UPU Stewart Platform

作　　者：严昊 吴建民[1] YAN Hao;WU Jianmin(Mechanical and Automotive Engineering,Shanghai University of Engineering Science Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院

出　　处：《轻工机械》2019年第6期7-11,共5页Light Industry Machinery

摘　　要：针对娱乐场所的动感座椅由于结构限制不能模拟太复杂场景的情况,课题组提出以6-UPU型Stewart平台作为底座,设计了一种动感座椅。对该机构进行运动学和动力学分析并搭建数学模型。以应用为背景给动平台规划了一条复杂的运动轨迹,并将轨迹离散成一连串的轨迹点。基于ADAMS软件搭建了虚拟样机,将轨迹点导入ADAMS中运行,验证该设计的可行性。仿真结果表明该设计空间上更为灵活,可以用于模拟电影中复杂的情景。The dynamic seats for entertainment can not simulate too complex scenes due to structural constraints,the 6-UPU Stewart platform was used as the base to design a dynamic seat. The kinematics and dynamics of the mechanism were analyzed and the mathematical model was built. Taking the application as the background,a complex trajectory was planned for the moving platform,and the trajectory was discretized into a series of trajectory points. The virtual prototype was built by using ADAMS,and the track point was imported into ADAMS to run,so as to verify the feasibility of the design. Simulation results show that the design space is more flexible and can be used to simulate complex scenes in movies.

关 键 词：动感座椅 STEWART平台 运动轨迹 ADAMS 虚拟样机 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]