3D modeling was performed by analyzing the existing two-dimensional UAV test platform. After analysis, in order to simulate the real motion state of the UAV (i.e. pitch, yaw, and rotation), the test platform needs to enable the UAV to have rotational freedom in the three directions of x, y, and z and translational freedom in the z direction. Therefore, the platform adopts a gyroscope structure, which drives the UAV to achieve pitch, yaw, and rotation through the rotation of the platform frame in three directions.
 Refine the mechanism to realize the feasibility of the test platform in practical applications. In terms of the details of the mechanism design, the difficulty lies mainly in the feasibility analysis of whether the movements of the mechanisms interfere with each other and whether the mechanisms are easy to assemble and disassemble. Therefore, the upper and lower parts of the mechanism are connected by 3D printed cross connectors, and the top bracket of the z-axis is connected to the base by bolts, which makes it easy to remove the upper 1/2 structure of the gyroscope structure, thereby facilitating the installation of the drone.

  Conduct simulation tests on the mechanism and improve the test platform. Perform basis group dynamics calculations based on the nature of mechanical interference forces (periodic interference forces, impact interference forces), and preliminarily select corresponding frame materials based on the type of machinery and stress analysis of the overall structure. Analyze the simulated force distribution, stress distribution, and mechanism operation simulation of the UAV test platform through ANSYS and related verification software.

Material selection and installation of the mechanism. To ensure the accuracy of the mechanism measurement, the practicality of the materials, and the economy of the mechanism, the outer frame of the test platform is made of aluminum alloy profiles, and the main body is made of carbon fiber with relatively high strength and quality. According to the strength and stiffness requirements, the inner frame of the gyroscope structure uses a double-layer carbon fiber plate connected by bolts to increase the stiffness of the inner frame and reduce deformation during rotation.

The force tactile sensor selection and interface design, analysis and design of the test platform and the drone's own sensor information, and the actual installation measurement test of the drone. The force tactile sensor is installed on the upper end of the gyroscope structure test platform and powered by a power supply to measure the six-dimensional force transmitted to the sensor's force end face by a linear bearing. The measured data is transmitted through the wireless routing module or 3G carried by the sensor, and the data is processed and output, and finally reaches the PC. The internal sensor of the drone flight control uses a complementary filtering algorithm to introduce the drone's attitude, which is transmitted to the PC through a wireless routing module or 3G. The two are subjected to extended Kalman filter/particle filter data fusion analysis to obtain the drone's flight status.