Abstract: Aiming at the shortcomings of traditional six-degree-of-freedom flight simulation platform, a four-degree-offreedom composite motion platform is designed, which has lower cost, simpler structure, larger motion space and easier control. Basing on kinematics research, forward and inverse kinematics solution equations are derived by establishing spatial coordinate system and D-H parameters in combination with Euler transforming method.Matlab Robotics Toolbox is used to establish the platform mathematical model to verify the forward and reverse solutions. The consistent results of the two methods prove the correctness of the equations and simulation. Finally,joint space trajectory planning is carried out, simulating the displacement, velocity and acceleration curves of the four joints. The smooth and continuous curves verify the feasibility of the platform trajectory.

Key words: tandem robot, four-degree-of-freedom, forward kinematics, reverse kinematics, flight simulator