基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法

doi:CNKI:11-1929/V.20101111.0914.029

Abstract

Abstract: In this paper, a dimensional design and its corresponding methodology for helmet mounted display with a 6-DOF parallel manipulator (HMDPM) is investigated while characteristics of head motion are considered as design criterions. The characteristics of head motion in flight training are summarized based on data from many experiments. In practice, design criterions are classified into compulsory requirements and relaxable requirements, and the objective functions regarding the kinematic performances of the HMDPM are defined according to all criterions, while the mathematical model of optimization is established in accordance with the principle of nonlinear least squares. The paper presents a novel methodology—modified nonlinear least squares based on centroidal Voronoi tesselation(CVT)—which initializes the design parameters with CVT and solves the optimization problem by means of the nonlinear least squares method, thus obtaining several feasible solutions.The numerical simulations show that each design solution satisfies all the compulsory criterions and the new method has a better ability for global optimization. Additionally, the best solution is determined by taking into account the optimization of relaxable requirements—dexterity in workspace, and the feasibility of the new method is further verified by analyzing the partial indices of the optimal mechanism.

Key words: parallel manipulator, dimensional design, optimization, head motion, nonlinear least-squares method, compulsory requirement, relaxable requirement

CLC Number:

V244
TH113

LI Peng, GU Hongbin, WU Dongsu. Dimensional Design and Corresponding Methodology for Helmet Mounted Display with 6-DOF Parallel Manipulator Based on Requirements of Head Motion[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(4): 739-750.

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Dimensional Design and Corresponding Methodology for Helmet Mounted Display with 6-DOF Parallel Manipulator Based on Requirements of Head Motion

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