Abstract
The article discusses the main aspects of the application of mathematical modeling methods to analyze the properties of 6-DOF robotic mobility platforms (RMP), which can be used as complete test benches and simulators for testing various equipment, road construction equipment, vehicles, aviation, rocket and space. The application of simulators made it possible to create a virtual environment for user interaction with a special type of equipment that responds to commands like a real one. In addition, the article considers a numerical method for solving the inverse kinematics problem of the RMP, which consists in determining the dependence of the change in the lengths of six drive rods (rectilinear drives) on six coordinates (three translational and three rotational) characterizing the position of the mobile platform in space. The mathematical modeling of the RMP kinematics has been carried out. Data on the required linear and angular position of the mobile platform of the RMP, as well as the position of the rods and the speed of the rods of the drive mechanisms based on electric cylinders are selected as initial data for calculating the RMP control system. As a result of the simulation, a corresponding sample is obtained. The corresponding maximum and minimum values of the samples are obtained. These values correspond to the requirements for the minimum and maximum stroke of the rod of electric drives that drive the RMP. The results of mathematical modeling for a set of positional parameters of the RMP are presented. Numerical simulation of the optimization task is performed for the selected configuration of geometric parameters of the mobile platform of the RMP.
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