基于3自由度并联机器人的船载炮6维运动模拟系统

本文系统基于3自由度并联机器人和3维图形仿真实现了空间6维运动的模拟，构造了一种3自由度并联机构来模拟船的3维转动，并给出了并联平台的运动学逆解，采用图形仿真虚拟作战环境，模拟船的3维移动，并分析了图形驱动原因。

A 6 dimension movement simulation is achieved based on 3 DOF parallel robotic platform and 3 dimension picture simulation. A 3 DOF parallel mechanism is constructed to simulate the 3 dimension rotations of the boat, and its inverse mechanics is conducted. Other wise the picture simulation technology is used to imitate the battlefield, and to simulate the 3 DOF translation. Also, the picture driven principle is presented.