Dynamic Modeling and Simulation of a 6-UHP Parallel Platform under Base Excitation
WANG Xiaoming1,2, XU Zhenbang1, WANG Bing1,2, LIANG Kaixiang1,2, WU Qingwen1
1. Innovation Lab of Space Robot System, Space Robotics Engineering Center, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：Dynamic modeling and simulation of a 6-UHP (universal-Hooke-prismatic) parallel platform under base excitation are studied for the requirements of vibration isolation and precision pointing technology. Firstly, the structure characteristics of 6-UHP parallel platform are introduced. Then, the theoretical modeling based on Kane formulation is performed, and the complete dynamic equation of the parallel platform is derived. Finally, the theoretical model of the parallel platform is verified by co-simulation. The results indicate that the 6-dimensional acceleration curve obtained from simulation is similar to the input acceleration curve, the maximum relative error is 5.40%, and the minimum relative error is 0.25%. Thus, the accuracy of the dynamic model is fully verified.
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