Research on a(2SPU-1U)&1R Sailing Simulation Platform with Less-Degrees-of-Freedom
Aiming at most existing single-degree-of-freedom sailing simulation platforms,a new 3-DOF(2SPU-1U)&1R less-degree-of-freedom hybrid sailing simulation platform is proposed,which consists of a 2SPU-1U parallel mechanism and a ro-tary auxiliary R series structure,which can realize the motion simulation of the three degrees of freedom of the sailing ship,such as rolling,pitching and yaw.At the same time,the platform can also be applied to driving,flying and other simulator occasions.The Grübler-Kutzbach formula is used to calculate the number of degrees of freedom of the mechanism,the constraint equation of the 2SPU-1U parallel mechanism is established,and the inverse solution of the pose of the parallel mechanism is solved by the numeri-cal method,and the particle swarm optimization(PSO)algorithm is used to analyze the parallel mechanism positive solution of pose.Finally,through using Solidworks and Adams software for joint modeling and simulation analysis,it is verified that the mecha-nism runs smoothly and can realize the motion simulation of sailboat roll,pitch and yaw.
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