一种改进的6自由度运动模拟器逆动力学模型

6自由度运动模拟器被广泛用于模拟舰艇、飞机和车辆的空间运动，其动力学模型通常假设支腿不存在绕自身轴线的转动，给计算结果带来了一定的误差。为了评估和消除此误差，以牛顿一欧拉方法为基础，提出一种改进的逆动力学模型。该模型的建立完全遵循支腿转动的真实运动情况，是一种精确的动力学模型。由于在推导过程中消去了各约束反力，该模型有着简洁的表达形式和较高的计算效率，适用6自由度运动模拟器的结构优化和控制算法设计。

An Improved Inverse Dynamics Model of 6DOF Motion Simulator

The 6DOF motion simulator is widely used in simulating the spatial motions of naval ships,aerocrafts and vehicles,and generally it is assumed that the simulator's legs do not rotate around corresponding axes,which leads to errors of dynamics calculation.For evaluating and eliminating the errors,an improved inverse dynamics model was presented based on Newton-Euler method.Considering the actual situation of the legs' motion,the model is an accurate one.Because the constraint forces have been eliminated,the m...