主次运动解耦混联驾驶模拟器的构型设计与参数优化

doi:10.3901/JME.2025.21.302

摘要/Abstract

摘要： 为避免模拟驾驶器中主要运动(核心影响体感方向)性能的局限以及次要运动(体感不敏感方向)性能的冗余，考虑人体感知模拟机理对驾驶模拟器构型设计的物理有效性影响，开展基于主次运动解耦混联机构驾驶模拟器的构型设计与参数优化研究。首先，引入人体感知模拟理论，提出驾驶模拟的“主次运动解耦”与“串并混联”两个特性，发挥并联机构作为影响体感作用的主运动优势，以实现更好的运动学以及动力学性能；辅以串联机构输出次要辅助运动，提高实时性与工作空间；其次，基于自由度交叉分配与主次运动解耦策略，建立考虑人机运动感知中心点重合原则的混联综合准则，提出主次运动解耦混联机构型综合方法；再次，围绕“串主并次”“并主串次”以及“主次混合”三种基本组合类型综合出不同类型驾驶模拟器混联构型，且对比优选出P+P+R+3-RPS基础构型；然后，以运动学求解与参数优化为基础，构建一种六自由度模块化混联驾驶模拟器，并开展工作空间、强度与模态分析；最后，通过对比样机实验中伴随补偿前后的误差范围，验证了主次运动解耦特性在误差补偿、运动控制与体感模拟等方面的优势。该研究为提高驾驶模拟体验提供了新机型及优化思路。

关键词: 驾驶模拟器, 主次运动解耦, 混联机构, 构型设计, 参数优化

Abstract: To address the limitations in performance of the primary motion (which critically influences somatosensory perception) and the redundancy in the secondary motion (characterized by somatosensory insensitivity) in a simulated driving environment, this study investigates the configuration design and parameter optimization of a driving simulator based on the decoupling of primary and secondary motions. This investigation takes into account the impact of human perception simulation mechanisms on the physical effectiveness of the driving simulator's configuration design. Firstly, the theory of human perception simulation is introduced, proposing two key characteristics in driving simulation: “decoupling of primary and secondary motions” and “series-parallel hybrid connection”. This allows the parallel mechanism to leverage its advantages as the main motion influencing somatosensory actions, thereby achieving superior kinematic and dynamic performance. The secondary auxiliary motion is executed through a series mechanism to enhance real-time performance and working space. Secondly, based on the cross-allocation of degrees of freedom and the decoupling strategy for primary and secondary motions, a hybrid synthesis criterion considering the coincidence principle of the motion perception center is established, leading to the proposal of a hybrid configuration synthesis method for decoupling primary and secondary motions. Thirdly, synthesizing from three basic combination types—“tandem main and secondary” “parallel main and secondary mixed” and “primary and secondary mixed”—the hybrid configurations of different types of driving simulators are developed, with the P+P+R+3-RPS configuration selected after comparative analysis. Subsequently, based on kinematic solutions and parameter optimization, a 6-DOF modular hybrid driving simulator is constructed, and analyses of workspace, intensity, and modal behavior are conducted. Finally, by comparing the error range before and after compensation in prototype experiments, the advantages of the decoupling feature in error compensation, motion control, and somatosensory simulation are verified. This research provides new models and optimization strategies to enhance the driving simulation experience.

Key words: driving simulator, primary and secondary motion decoupling, hybrid mechanism, configuration design, parameter optimization

中图分类号:

TP242

卢文娟, 吴美琪, 孙思涵, 曾嘉豪, 曾达幸. 主次运动解耦混联驾驶模拟器的构型设计与参数优化[J]. 机械工程学报, 2025, 61(21): 302-317.

LU Wenjuan, WU Meiqi, SUN Sihan, ZENG Jiahao, ZENG Daxing. Configuration Design and Parameter Optimization of a Decoupled Hybrid Driving Simulator with Primary and Secondary Motions[J]. Journal of Mechanical Engineering, 2025, 61(21): 302-317.

参考文献

[1] KAPTEIN N A，THEEUWES J，VAN DER HORST R. Driving simulator validity：Some considerations[J]. Transportation Research Record，1996，1550(1)：30-36.
[2] 宋国峰，程忠涛，袁立鹏，等. 运动模拟器及其运动平台系统的发展现状及应用前景[J]. 机械设计与制造，2008(6)：230-232.SONG Guofeng，CHENG Zhongtao，YUAN Lipeng，et al. Development status and application prospects of motion simulators and their motion platform systems[J]. Mechanical Design and Manufacturing，2008(6)：230-232.
[3] YOSHIMOTO K，SUETOMI T. The history of research and development of driving simulators in Japan[J]. Journal of Mechanical Systems for Transportation and Logistics，2008，1(2)：159-169.
[4] ALI Y，SHARMA A，HAQUE M M，et al. The impact of the connected environment on driving behavior and safety：A driving simulator study[J]. Accident Analysis & Prevention，2020(144)：105643.
[5] MILLEVILLE-PENNEL I，MARQUEZ S. Comparison between elderly and young drivers’ performances on a driving simulator and self-assessment of their driving attitudes and mastery[J]. Accident Analysis & Prevention，2020，135：105317.
[6] FARAH H，POSTIGO I，REDDY N，et al. Modeling automated driving in microscopic traffic simulations for traffic performance evaluations：Aspects to consider and state of the practice[J]. IEEE Transactions on Intelligent Transportation Systems，2022(1)：1-17.
[7] HUANG L，ZHAO X，LI Y，et al. Driving simulator-based study to quantify typical diagrammatic guide sign efficiency along urban expressway interchanges[J]. Journal of Transportation Safety & Security，2020，12(7)：839-862.
[8] LUO Z H，WEI Y D，ZHOU X J. Research on variable input MCA for Stewart platform vehicle simulator [J]. Journal of Zhejiang University (Engineering Science)，2013，47(2)：238-243.
[9] 叶鹏达，尤晶晶，仇鑫，等. 并联机器人运动性能的研究现状及发展趋势[J]. 南京航空航天大学学报. 2020，52(3)：363-377.YE Pengda，YOU Jingjing，QIU Xin，et al. Research status and development trends of the motion performance of parallel robots[J]. Journal of Nanjing University of Aeronautics and Astronautics，2020，52(3)：363-377.
[10] TONG Z，GOSSELIN C，JIANG H. Dynamic decoupling analysis and experiment based on a class of modified Gough-Stewart parallel manipulators with line orthogonality[J]. Mechanism and Machine Theory，2020，143：103636.
[11] JORGEURIBE，BERENICERODRÍGUEZ，REQUENA E A，et al. Control of a Stewart-Gough platform for earthquake ground motion simulation[M]. Industrial and Robotic Systems，2020.
[12] ZHAO J，WU D，GU H. Performance evaluation of Stewart-Gough flight simulator based on L1 adaptive control[J]. Applied Sciences，2021，11(7)：3288.
[13] ASADI H，BELLMANN T，QAZANI M C，et al. A novel decoupled model predictive control-based motion cueing algorithm for driving simulators[J]. IEEE Transactions on Vehicular Technology，2023(99)：1-12.
[14] 于鹏，王培俊，李保庆，等. 基于串联机构的三自由度运动平台设计与仿真分析[J]. 机械设计与制造，2015(1)：180-183.YU Peng，WANG Peijun，LI Baoqing，et al. Design and simulation analysis of a three-degree-of-freedom motion platform based on serial mechanisms[J]. Mechanical Design and Manufacturing，2015(1)：180-183.
[15] 陈子明，张扬，黄坤，等. 一种无伴随运动的对称两转一移并联机构[J]. 机械工程学报，2016，52(3)：9-16.CHEN Ziming，ZHANG Yang，HUANG Kun，et al. A symmetrical parallel mechanism with two rotations and one translation without companion motion[J]. Journal of Mechanical Engineering，2016，52(3)：9-16.
[16] 宋井科，赵坤，严文江，等. 一种新型3自由度并联运动模拟器的设计与分析[J]. 机械设计，2021，38(4)：44-50.SONG Jingke，ZHAO Kun，YAN Wenjiang，et al. Design and analysis of a novel three-degree-of-freedom parallel motion simulator[J]. Mechanical Design，2021，38(4)：44-50.
[17] 李芳，陈奇，刘凯，等. 气动人工肌肉驱动的并联平台模糊PID控制[J]. 机器人，2021，43(2)：140-147.LI Fang，CHEN Qi，LIU Kai，et al. Fuzzy PID control of a parallel platform driven by pneumatic artificial muscles[J]. Robot，2021，43(2)：140-147.
[18] 王力航，郭菲，卢文娟，等. 3UPS/S舰船稳定平台非惯性系动力学建模[J]. 机械工程学报，2020，56(1)：20-29.WANG Lihang，GUO Fei，LU Wenjuan，et al. Dynamic modeling of a 3UPS/S ship stabilization platform in a non-inertial frame[J]. Journal of Mechanical Engineering，2020，56(1)：20-29.
[19] 张骁，王培俊，张利斌，等. 四自由度混联运动平台的分析与仿真[J]. 机械设计与制造，2015(10)：241-244.ZHANG Xiao，WANG Peijun，ZHANG Libin，et al. Analysis and simulation of a four-degree-of-freedom hybrid motion platform[J]. Mechanical Design and Manufacturing，2015(10)：241-244.
[20] 罗磊，王培俊，黄琳秦. 一种新型多自由度混联运动平台的设计与仿真分析[J]. 机械制造与自动化，2018，47(3)：106-109.LUO Lei，WANG Peijun，HUANG Linqin. Design and simulation analysis of a new type of multi-degree- of-freedom hybrid motion platform[J]. Mechanical Manufacturing and Automation，2018，47(3)：106-109.
[21] 周昌春，方跃法，叶伟，等. 6-RRS超冗余驱动飞行模拟器的性能分析[J]. 机械工程学报，2016，52(1)：34-40.ZHOU Changchun，FANG Yuefa，YE Wei，et al. Performance analysis of a 6-RRS over-redundant actuation flight simulator[J]. Journal of Mechanical Engineering，2016，52(1)：34-40.
[22] ELSAMANTY M，FAIDALLAH E M，HOSSAMELDIN Y H，et al. Workspace analysis and path planning of a novel robot configuration with a 9-DOF serial-parallel hybrid manipulator (SPHM)[J]. Applied Sciences，2023，13(4)：2088.
[23] 胡波，高添，胡国烽，等. 一种无传统防扭力臂的直升机旋翼操纵机构位置解分析[J]. 机械工程学报，2024，60(15)：71-79.HU Bo，GAO Tian，HU Guofeng，et al. Position solution analysis of a helicopter rotor control mechanism without traditional anti-torque arms[J]. Journal of Mechanical Engineering，2024，60(15)：71-79.
[24] ZHENG Y，LIN C，PEI Y，et al. Design and preliminary evaluation of a serial-parallel hybrid robot for cataract surgery[C]//Proceedings of the 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)，IEEE，2024：1-6.
[25] GODLEY S T，TRIGGS T J，FILDES B N. Driving simulator validation for speed research[J]. Accident Analysis & Prevention，2002，34(5)：589-600.
[26] WYNNE R A，BEANLAND V，SALMON P M. Systematic review of driving simulator validation studies[J]. Safety Science，2019，117：138-151.
[27] DAY B L，FITZPATRICK R C. The vestibular system[J]. Current Biology，2005，15(15)：R583-R586.
[28] 沈惠平，赵海彬，邓嘉鸣. 基于自由度分配和方位特征集的混联机器人机型设计方法及应用[J]. 机械工程学报，2011，47(23)：56-64.SHEN Huiping，ZHAO Haibin，DENG Jiaming. Design and application of hybrid robot mechanism based on degree of freedom allocation and orientation feature set[J]. Journal of Mechanical Engineering，2011，47(23)：56-64.
[29] 陈海，秦友蕾，曹毅. 基于螺旋理论的3T1R完全解耦并联机构型综合[J]. 中国机械工程，2015，26(24)：3282-3288.CHEN Hai，QIN Youlei，CAO Yi. Type synthesis of 3T1R fully decoupled parallel mechanism based on screw theory[J]. China Mechanical Engineering，2015，26(24)：3282-3288.
[30] LIU Y，LU W J，MA H T，et al. Design of human-machine compatible ankle rehabilitation robot based on equivalent human ankle model[J]. IEEE Robotics and Automation Letters，2024，9(2)：1230-1237.
[31] HERVÉ J M. The Lie group of rigid body displacements，a fundamental tool for mechanism design[J]. Mechanism and Machine Theory，1999，34(5)：719-730.
[32] KONG X，GOSSELIN C. Type synthesis of 3-DOF translational parallel manipulators based on screw theory[J]. Journal of Mechanical Design，2004，126(1)：101-108.
[33] LIU X J，WANG J. A new methodology for optimal kinematic design of parallel mechanisms[J]. Mechanism and Machine Theory，2007，42(9)：1210-1224.
[34] 刘辛军，于靖军，孔宪文. 机器人机构学[M]. 北京：机械工业出版社，2021.LIU Xinjun，YU Jingjun，KONG Xianwen. Robot mechanism science[M]. Beijing：China Machine Press，2021.
[35] 李艳文. 几类空间并联机器人的奇异研究[D]. 秦皇岛：燕山大学，2005.LI Yanwen. Singularity study of several types of spatial parallel robots[D]. Qinhuangdao：Yanshan University，2005.
[36] 黄真，赵永生，赵铁石. 高等空间机构学[M]. 2版. 北京：高等教育出版社，2014.HUANG Zhen，ZHAO Yongsheng，ZHAO Tieshi. Advanced spatial mechanism science[M]. 2nd Edition. Beijing：Higher Education Press，2014.
[37] YI W，ZHENG Y，WANG W，et al. Optimal design and force control of a nine-cable-driven parallel mechanism for lunar takeoff simulation[J]. Chinese Journal of Mechanical Engineering，2019，32：1-12.