CN112743543A - Six-axis platform motion simulation device for collecting and editing six-axis platform driving parameters - Google Patents
Six-axis platform motion simulation device for collecting and editing six-axis platform driving parameters Download PDFInfo
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- CN112743543A CN112743543A CN202011529062.3A CN202011529062A CN112743543A CN 112743543 A CN112743543 A CN 112743543A CN 202011529062 A CN202011529062 A CN 202011529062A CN 112743543 A CN112743543 A CN 112743543A
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- 238000004088 simulation Methods 0.000 title abstract description 13
- 238000005065 mining Methods 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 5
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A six-axis platform motion simulation device for collecting and compiling six-axis platform driving parameters comprises a base, a motion platform and six telescopic rods, wherein the six telescopic rods are arranged between the base and the motion platform, one end of each telescopic rod is hinged with the base through a ball, and the other end of each telescopic rod is hinged with the motion platform through a ball; the structure is simple, when the motion platform is driven by external force, the motion platform drives the telescopic rod to stretch and rotate, so that the motion of the six-axis platform in the VR dynamic control system can be truly simulated, the operation is simple and easy, and the response sensitivity is high.
Description
Technical Field
The invention relates to a three-dimensional dynamic six-axis platform simulation technology, in particular to a six-axis platform motion simulation device for acquiring and editing driving parameters of a six-axis platform.
Background
In the VR dynamic control system, the realization of dynamic is attributed to the fact that the stretching length of each electric cylinder on the dynamic six-axis platform is controlled in real time according to a video picture, the dynamic effect is kept synchronous or similar to the motion posture and the motion position in the video picture, and the simulation of various scene effects is assisted. The data used for controlling the stretching amount of each shaft electric cylinder of the six-shaft platform are dynamic data. The dynamic data is updated for 1 time at regular time intervals. If the time interval takes 50 ms or 20 ms, the frame refresh frequency of the motion data is 20 frames/s or 50 frames/s, respectively.
At present, when dynamic data is written, video pictures are repeatedly watched, and then the logical length values of each electric cylinder are set frame by frame according to the motion characteristics of videos. After the dynamic data is compiled, special effect data is supplemented. If the playing time of a VR video is 5 minutes and the refresh rate of the motion data is 50 frames/second, the number of motion data frames that need to be written in total is 15000 frames. The generation of motion data by this manual authoring method is extremely time consuming, cumbersome, difficult to synchronize with the video, and difficult to modify.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the six-axis platform motion simulation device for acquiring and editing the driving parameters of the six-axis platform, which has the advantages of simple structure, simple and easy operation and high response sensitivity.
In order to solve the technical problems, the invention adopts the following technical scheme:
the six-axis platform motion simulation device for collecting and compiling the six-axis platform driving parameters comprises a base, a motion platform and six telescopic rods, wherein the six telescopic rods are arranged between the base and the motion platform, one end of each telescopic rod is hinged to the base through a ball, and the other end of each telescopic rod is hinged to the motion platform through a ball.
As a further improvement of the above technical solution:
the base and the motion platform are of quadrilateral structures, the six telescopic rods are three telescopic rods which are divided into two parts, and the three telescopic rods are arranged on any three sides of the quadrilateral structures.
Two telescopic rods in the same group of telescopic rods are arranged close to one end of the base in a ball hinge mode and are arranged separately from one end of the motion platform in a ball hinge mode.
The telescopic rod comprises a sleeve and a sleeve rod, wherein one end of the sleeve is provided with a spherical hinge seat, the other end of the sleeve is provided with an opening, one end of the sleeve rod is provided with the spherical hinge seat, and the other end of the sleeve rod is slidably arranged in the sleeve from the opening of the sleeve.
The sleeve is internally provided with a sensor for measuring the telescopic amount of the telescopic rod.
The sensor is a resistive sensor.
The resistance-type sensor comprises a resistance wire, the resistance wire is fixed in the sleeve, and one end of the sleeve rod, which is slidably arranged in the sleeve, is electrically contacted with the resistance wire.
The resistance wires are arranged along the inner wall of the sleeve in an equidistant spiral line.
Compared with the prior art, the invention has the advantages that:
the six-axis platform motion simulation device for collecting and editing the six-axis platform driving parameters is simple in structure, when the motion platform is driven by external force, the motion platform drives the telescopic rod to stretch and rotate, so that the six-axis platform motion in the VR dynamic control system can be simulated really, and the six-axis platform motion simulation device is simple and easy to operate and high in response sensitivity.
Drawings
Fig. 1 is a schematic perspective view of a six-axis platform motion simulation apparatus for encoding six-axis platform driving parameters according to the present invention.
Fig. 2 is a schematic sectional structure view of the telescopic rod of the present invention.
The reference numerals in the figures denote:
1. a base; 2. a motion platform; 3. a telescopic rod; 31. a sleeve; 32. a loop bar; 4. a resistance wire.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1 and 2, the six-axis platform motion simulation apparatus for compiling six-axis platform driving parameters in this embodiment includes a base 1, a motion platform 2, and six telescopic rods 3, where the six telescopic rods 3 are installed between the base 1 and the motion platform 2, and one end of each telescopic rod 3 is ball-hinged to the base 1, and the other end is ball-hinged to the motion platform 2. Simple structure, when external force drive motion platform 2, by motion platform 2 drive telescopic link 3 flexible and rotation to can the motion of the six platform in the true simulation VR motion control system, its easy operation, response sensitivity are high.
In the embodiment, the base 1 and the motion platform 2 are both in a quadrilateral structure, six telescopic rods 3 are divided into three groups of telescopic rods 3 by taking two telescopic rods as a group, and the three groups of telescopic rods 3 are arranged on any three sides of the quadrilateral structure; two telescopic links 3 in the same group of telescopic links 3 are arranged close to one end of the base 1 in a ball-hinged mode and are arranged separately from one end of the motion platform 2 in a ball-hinged mode.
In this embodiment, the telescopic rod 3 includes a sleeve 31 and a sleeve rod 32, one end of the sleeve 31 is provided with a spherical hinge seat, the other end is provided with an opening, one end of the sleeve rod 32 is provided with a spherical hinge seat, and the other end is slidably arranged in the sleeve 31 from the opening of the sleeve 31; a sensor for measuring the telescopic amount of the telescopic rod 3 is arranged in the sleeve 31; the sensor is a resistive sensor. The resistance sensor comprises a resistance wire 4, the resistance wire 4 is fixed in the sleeve 31, one end of the loop bar 32 which is arranged in the sleeve 31 in a sliding way is electrically contacted with the resistance wire 4, when the loop bar 32 slides in the sleeve 31, the resistance value of the resistance sensor changes along with the change of the resistance value, and the data of the change of the resistance value can be transmitted to the data storage or data editing device through a data line.
In this embodiment, the resistance wires 4 are arranged in an equidistant spiral along the inner wall of the sleeve 31. When resistance line 4 adopted equidistant helix to arrange, telescopic link 3 was under the condition of equal flexible volume, and the resistance value variation is bigger, and the response is more obvious to it is higher to the detection precision of flexible volume.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (8)
1. The utility model provides a six platform motion analogue means for adopting six platform driving parameter of compiling which characterized in that: the device comprises a base (1), a motion platform (2) and six telescopic rods (3), wherein the six telescopic rods (3) are arranged between the base (1) and the motion platform (2), one end of each telescopic rod (3) is in ball joint with the base (1), and the other end of each telescopic rod is in ball joint with the motion platform (2).
2. The six-axis platform motion simulator for compiling six-axis platform drive parameters of claim 1, wherein: base (1) and motion platform (2) are the quadrangle structure, six telescopic links (3) use two to be a set of three telescopic links (3) of component, three telescopic links of group (3) divide and locate quadrangle structure's arbitrary three sides.
3. The six-axis platform motion simulator for compiling six-axis platform drive parameters of claim 2, wherein: two telescopic rods (3) in the same group of telescopic rods (3) are arranged close to one end of the base (1) in a ball-hinged mode and are arranged separately from one end of the motion platform (2) in a ball-hinged mode.
4. The six-axis platform motion simulator for mining six-axis platform drive parameters according to any of claims 1 to 3, wherein: the telescopic rod (3) comprises a sleeve (31) and a sleeve rod (32), one end of the sleeve (31) is provided with a spherical hinge seat, the other end of the sleeve is provided with an opening, one end of the sleeve rod (32) is provided with the spherical hinge seat, and the other end of the sleeve rod (31) is slidably arranged in the sleeve (31) at the opening of the sleeve (31).
5. The six-axis platform motion simulator for compiling six-axis platform drive parameters of claim 4, wherein: and a sensor for measuring the telescopic amount of the telescopic rod (3) is arranged in the sleeve (31).
6. The six-axis platform motion simulator for compiling six-axis platform drive parameters of claim 5, wherein: the sensor is a resistive sensor.
7. The six-axis platform motion simulator for compiling six-axis platform drive parameters of claim 6, wherein: the resistance sensor comprises a resistance wire (4), the resistance wire (4) is fixed in the sleeve (31), and one end of the loop bar (32) which is arranged in the sleeve (31) in a sliding manner is electrically contacted with the resistance wire (4).
8. The six-axis platform motion simulator for compiling six-axis platform drive parameters of claim 7, wherein: the resistance wires (4) are arranged along the inner wall of the sleeve (31) in an equidistant spiral line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011529062.3A CN112743543A (en) | 2020-12-22 | 2020-12-22 | Six-axis platform motion simulation device for collecting and editing six-axis platform driving parameters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011529062.3A CN112743543A (en) | 2020-12-22 | 2020-12-22 | Six-axis platform motion simulation device for collecting and editing six-axis platform driving parameters |
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| Publication Number | Publication Date |
|---|---|
| CN112743543A true CN112743543A (en) | 2021-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011529062.3A Pending CN112743543A (en) | 2020-12-22 | 2020-12-22 | Six-axis platform motion simulation device for collecting and editing six-axis platform driving parameters |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
| US20090035739A1 (en) * | 2007-07-30 | 2009-02-05 | The University Of Bristol | Dental simulator |
| CN102728076A (en) * | 2012-06-27 | 2012-10-17 | 北京赛欧必弗科技有限公司 | Motion data acquisition system and method for motion seat chair |
| CN202497713U (en) * | 2012-03-01 | 2012-10-24 | 北京太阳光影影视科技有限公司 | Compact air-compression type 4D dynamic seat platform |
| CN204834875U (en) * | 2015-08-06 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Vice face position appearance adjusting device based on stewart formula six -degree -of -freedom parallel mechanism |
| WO2017132751A1 (en) * | 2016-02-05 | 2017-08-10 | Neuhorizon Medical Corporation | Positionable platform system with mechanically amplified positioning limbs |
| US20180059528A1 (en) * | 2014-12-03 | 2018-03-01 | Barco, Inc. | Systems and methods for an immersion theater environment with dynamic screens |
-
2020
- 2020-12-22 CN CN202011529062.3A patent/CN112743543A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090035739A1 (en) * | 2007-07-30 | 2009-02-05 | The University Of Bristol | Dental simulator |
| CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
| CN202497713U (en) * | 2012-03-01 | 2012-10-24 | 北京太阳光影影视科技有限公司 | Compact air-compression type 4D dynamic seat platform |
| CN102728076A (en) * | 2012-06-27 | 2012-10-17 | 北京赛欧必弗科技有限公司 | Motion data acquisition system and method for motion seat chair |
| US20180059528A1 (en) * | 2014-12-03 | 2018-03-01 | Barco, Inc. | Systems and methods for an immersion theater environment with dynamic screens |
| CN204834875U (en) * | 2015-08-06 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Vice face position appearance adjusting device based on stewart formula six -degree -of -freedom parallel mechanism |
| WO2017132751A1 (en) * | 2016-02-05 | 2017-08-10 | Neuhorizon Medical Corporation | Positionable platform system with mechanically amplified positioning limbs |
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