Motion analysis and simulation of VR dynamic chair with antitwist structure

XIE Wei1, QING Baorong1, ZENG Jian1, WANG Zhengxing2

(1.Key Laboratory of E&M, Ministry of Education&Zhejiang Province, Zhejiang University of Technology,
Hangzhou 310014, China; 2.Zhejiang Henglin Chair Industry Co.Ltd., Anji 313300, China)

Abstract: Aiming at the phenomenon of excessive torque during the motion of electric cylinder on 3RPS platform, a new type of three degree of freedom parallel platform with antitwist structure was designed , which is applied to the virtual reality technology. Its kinematics and antitwist performance were studied. The model of AntiTwist structure parallel platform in SolidWorks was built, and its inverse kinematics and positive solution was analyzed, combining with ADAMS and MATLAB software to verify the correctness of inverse solution algorithm. Based on inverse solution algorithm, by using inverse solution iteration method to approaching position positive solution, the antitwist performance of electric cylinder with antitorsion structure and 3RPS platform was simulated by using ADAMS. The two kinds of electric cylinder of three degrees freedom of platform in the motion process of the torque were compared and analyzed. The research results show that the torque of electric cylinder with antitwist structure is significantly reduced. Provides a practical basis for the platform structural design.

Key words: antitwist structure; kinematics; ADAMS; 3RPS parallel platform; simulation