东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2004, Vol. 25 ›› Issue (11): 1034-1037.DOI: -

• 论著 • 上一篇    下一篇

轮式炮车驾驶训练实时运动仿真

王宇;丛德宏;徐心和;郝丽娜   

  1. 东北大学信息科学与工程学院;东北大学信息科学与工程学院;东北大学信息科学与工程学院;东北大学信息科学与工程学院 辽宁沈阳　110004
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2004-11-15 发布日期:2013-06-24
  • 通讯作者: Wang, Y.
  • 作者简介:-
  • 基金资助:
    辽宁省博士启动基金资助项目;;

Real-time kinematics simulation for driver training of wheeled gun vehicles

Wang, Yu (1); Cong, De-Hong (1); Xu, Xin-He (1); Hao, Li-Na (1)   

  1. (1) Sch. of Info. Sci. and Eng., Northeastern Univ., Shenyang 110004, China; (2) Lab. for Mfg. Syst. Eng., Xi'an Jiaotong Univ., Xi'an 710000, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2004-11-15 Published:2013-06-24
  • Contact: Wang, Y.
  • About author:-
  • Supported by:
    -

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摘要： 参见汽车运动模型建立相应的炮车模型,应用齐次变换理论给出炮车位姿的解算方法,并运用一种3 RPS型三自由度并联机器人结构的动感平台来实现运动模拟,而且给出了动感平台中作动器的速度方程,以确保驱动机构控制作动器按指定的速度运动,从而使动感平台能够实时模拟炮车行驶过程中的运动位姿·仿真实验验证了所建计算模型的正确性,也说明该火炮模拟训练系统方案是正确可行的·

关键词: 轮式炮车, 驾驶训练模拟, 运动仿真, 动感平台, 并联机器人, 运动姿态

Abstract: A kinematics model of wheeled gun vehicles is established on the basis of that of common motor vehicles, to which a solution is given for the posture of moving vehicle using the theory of homogeneous matrix. A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible platform to implement the motion simulation, with a speed formula of actuator given so as to ensure the drive-controllable actuators to move at a preset speed and enable the motion-sensitive platform to perform a real-time simulation of the moving posture of a wheeled gun vehicle in running. The feasibility of the model and the validity of such a system were verified by the simulation.

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