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

以头部运动特性为设计要求,对六自由度头盔伺服系统的尺寸优化设计及其方法进行了研究.通过实验数据分析,总结了飞行学员训练过程中头部的运动特性.将运动特性分为两类——必备指标和可选指标,并以此为设计性能要求,定义了头盔伺服系统各运动特性指标的目标函数,并结合非线性最小二乘法的原理,建立了优化问题的数学模型.提出了一种基于C...

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

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.