Abstract：The design of boom dynamic simulation platform of stewart parallel mechanism was carried out according to the actual working conditions of sprayer. The test platform performance criteria of the maximum load, amplitude and frequency and the kinematic parameters of actuator placement, position coordinates of joints and working space were determined. The parallel mechanism was modeled and kinematically simulated by MATLAB and ADAMS softwares to verify the design parameters. The distributed control system and the upper computer software with six servo electric cylinders were designed，and the dynamic simulation platform of boom with six degrees of freedom was built. According to the sinusoidal trajectory tracking experiment and the swept frequency experiment results, the complete reappearance of platform was realized for the time domain waveform within 10.0 Hz. The frequency response characteristics of 28 m boom pendulum suspension were also accurately measured. The dual GPS aided inertial attitude measurement system was used to collect the motion data of sprayer in farmland operation. The data were preprocessed and filtered in lowpass by cubical smoothing algorithm with fivepoint. The time domain waveform of field vehicle motion was reproduced within 10.0 Hz on the six degrees of freedom motion simulator. The results show that the root mean square error (RMSE) of rolling angle is 0.297 0 degrees, and the RMSE of vertical displacement is 15.7 mm.
