王晓明, 徐振邦, 王兵, 梁凯翔, 吴清文. 基础激励下6-UHP并联平台的动力学建模与仿真[J]. 机器人, 2016, 38(6): 687-695. DOI: 10.13973/j.cnki.robot.2016.0687
引用本文: 王晓明, 徐振邦, 王兵, 梁凯翔, 吴清文. 基础激励下6-UHP并联平台的动力学建模与仿真[J]. 机器人, 2016, 38(6): 687-695. DOI: 10.13973/j.cnki.robot.2016.0687
WANG Xiaoming, XU Zhenbang, WANG Bing, LIANG Kaixiang, WU Qingwen. Dynamic Modeling and Simulation of a 6-UHP Parallel Platform under Base Excitation[J]. ROBOT, 2016, 38(6): 687-695. DOI: 10.13973/j.cnki.robot.2016.0687
Citation: WANG Xiaoming, XU Zhenbang, WANG Bing, LIANG Kaixiang, WU Qingwen. Dynamic Modeling and Simulation of a 6-UHP Parallel Platform under Base Excitation[J]. ROBOT, 2016, 38(6): 687-695. DOI: 10.13973/j.cnki.robot.2016.0687

基础激励下6-UHP并联平台的动力学建模与仿真

Dynamic Modeling and Simulation of a 6-UHP Parallel Platform under Base Excitation

  • 摘要: 面向隔振指向技术的研制需求,开展了基础激励下6-UHP(universal-Hooke-prismatic)并联平台的动力学建模与仿真研究.首先,介绍了6-UHP并联平台的结构特点;接着,利用Kane方法对并联平台进行理论建模,得到完整动力学方程;最后,利用联合仿真技术对并联平台的理论模型进行验证.结果表明,仿真得到的6维加速度曲线与输入加速度曲线吻合度良好,最大误差为5.40%,最小误差为0.25%,充分验证了动力学模型的准确性.

     

    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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