Abstract
The development of modern training complexes for simulating vehicle control is an urgent taskdue to the high cost of control errors, which can be solved using parallel structure mechanisms.The article presents current research in the field of creating a model and a real prototype of a simulatorcomplex for training drivers of vehicles and special equipment based on a dynamic six-degreemobility platform. One of the mandatory requirements when designing a platform is the exclusionfrom the working area of special positions in which the mechanism loses its controllability and malfunctionsmay occur. The article presents the results of studies of the influence of special positions onthe solution of the direct problem of kinematics and the geometry of the working space of the Gough-Stewart platform (commercial name - "Hexapod"). A virtual prototype of the robotic platform wasdeveloped at MSC Adams, which made it possible to simulate the kinematic and dynamic parametersthat characterize the operating conditions under the action of workloads. The greatest resultant forcesacting on the hinges at the maximum speed that the actuator can develop are determined. In accordancewith the ultimate load, a 3D model of the training complex was built using computer-aideddesign systems. The article presents the results of designing a training complex, a prototype is made.The simulator consists of an upper platform and a base, which are connected by translational electricdrives. The driver's cabin is installed on the upper platform, which has controls similar to those of thecar. The simulation image is displayed on the installed monitors. For the interaction and immersionof the driver in the simulation environment, the software and hardware complex "Route" has beendeveloped, with the following functionality: – automated formation of a digital terrain model (includingareas of urban development) based on electronic topographic maps, libraries of threedimensionalobjects, results of laser scanning of real terrain, data from mobile complexes with precisionnavigation equipment; – creation of new three-dimensional objects; – setting up a behavioralmodel of dynamic objects (intelligent agents), developed using the principles of multi-agent systems;– creation of sets of exercises with various emergency situations for trainees. Experimental studies ofthe prototype made it possible to evaluate its capabilities and characteristics, and adjust the algorithms.The research results presented in the article will contribute to the creation of a solid infrastructure,promoting the provision of inclusive and sustainable industrialization.
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