可无限旋转的6-RSPS模拟器平台位置反解

提出了一种基于6-RSPS的车辆模拟器平台机构，并为其反解提供解决方法。根据杆长矢量关系图，推导出杆长和支杆下铰链的旋转角度与平台位置的关系，并提出了相关参数的约束及优化条件，得出了杆长和旋转角度的反解存在多个解且得到了它们的范围，并根据优化条件得到了最优解。数值实例表明，利用本方法能得到令人满意的反解，可有效地避免车辆模拟器在旋转方向上的洗出算法，从而能更加逼真地模拟车辆转弯时的感觉。

The Reverse Kinematics of the Infinite Rotary 6-RSPS Simulator Platform

A new structure of 6-RSPS simulator platform which is able to 360° rotary is presented. And a method for inverse kinematics is presented. According to the links vector diagram, the relationship between the length of links and the rotate angle of the under-hinge and the position and orientation of the platform is derived. According to constraints and optimization conditions about the relevant parameters, come to a conclusion that the inverse kinematics of the 6-RSPS platform have multiple value. Then get the optimal solution under the circumstances of the optimized conditions. Numerical results show that applying this method can get a satisfactory inverse kinematics solution, it’s able to avoid the washout algorithm on the rotate direction effectively, and simulate the feeling of swerve of the vehicle completely.