Study on the Motion Generation Method of Gun Training Simulator

Yu Wang; Ri Na Su

doi:10.4028/www.scientific.net/AMM.182-183.1673

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 182-183Study on the Motion Generation Method of Gun...

Study on the Motion Generation Method of Gun Training Simulator

Abstract:

A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible-platform of gun training simulator to implement the motion simulation. Its dynamics is analyzed and driving force of joint is gained. This paper introduces the study on motion generation of gun training simulator. The moving model of gun is established on the basis of the model of vehicle. We solve the pose of gun by applying the theory of homogeneous matrix. In order to ensure actuators moving at a preset speed and enable the motion-sensible-platform to perform a real-time moving posture simulation of a wheeled gun vehicle in running, the speed equation of actuator is given. The feasibility of models was tested through the simulation experiments. All of these works are beneficial to optimize design and control realization of motion platform structure.

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Periodical:

Applied Mechanics and Materials (Volumes 182-183)

Pages:

1673-1680

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.182-183.1673

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Online since:

June 2012

Authors:

Yu Wang, Ri Na Su

Keywords:

Gun Training Simulator, Motion Simulation, Motion-Sensible-Platform, Parallel Robot, Pose

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