引用本文: 辛建, 徐振邦, 杨剑锋, 吴清文. 基于6维并联机构的空间微振动模拟器动力学分析及测试[J]. 机器人, 2015, 37(5): 581-587.
XIN Jian, XU Zhenbang, YANG Jianfeng, WU Qingwen. Dynamic Analysis and Test of a Space Micro-vibration Simulator Based on 6-Dimensional Parallel Mechanism[J]. ROBOT, 2015, 37(5): 581-587.
 Citation: XIN Jian, XU Zhenbang, YANG Jianfeng, WU Qingwen. Dynamic Analysis and Test of a Space Micro-vibration Simulator Based on 6-Dimensional Parallel Mechanism[J]. ROBOT, 2015, 37(5): 581-587.

## Dynamic Analysis and Test of a Space Micro-vibration Simulator Based on 6-Dimensional Parallel Mechanism

• 摘要: 为了模拟空间飞行器上反作用飞轮等扰动设施产生的多维微小振动，设计了一种基于 Gough-Stewart 平台的空间微振动模拟器，并对微振动模拟器的动力学特性进行了研究.首先，利用牛顿－欧拉公式建立了微振动模拟器的动力学模型，该模型考虑了驱动腿和铰链的质量属性及负载质心偏心的情况；结合虚功原理推导出系统的广义刚度、阻尼及质量矩阵，得到求解微振动模拟器的固有频率及主振型的数学解析式.然后利用有限单元法及理论建模法对模拟器进行模态分析，得到微振动模拟器的前 6 阶固有频率及模态.仿真结果表明由理论模型及有限单元法得到的结果一致性较好.最后测试了该模拟器的刚度及固有频率特性.实验结果表明：理论方法及有限单元法分析得到的结果与测试值之间的误差不超过 5%，验证了理论模型的合理性.得到了微振动模拟器的固有频率及振型数据，为后续设计及调试提供了依据.

Abstract: To reproduce the multi-dimensional micro-vibrations generated by the operation of on-board equipment, such as reaction wheel, a space micro-vibration simulator based on the Gough-Stewart platform is proposed, and the dynamic characteristic of the micro vibration simulator is studied.Firstly, the dynamic model of the micro-vibration simulator is derived by Newton-Euler's method, in which the quality of the legs and the hinge and the eccentricity of the load center are included.Combining with the principle of virtual work, the generalized stiffness, damping and mass matrices of the system are presented, and the mathematical analytic formula is derived to calculate the natural frequency and the main vibration mode of the micro vibration simulator.Then, the modal analysis of the simulator is carried out by the finite element method and theoretical model, and the first six natural frequencies and modal shapes of the system are obtained.The simulation results reveal that the results obtained by theoretical model and the finite element are in good agreement.Finally, the stiffness and the natural frequencies of the simulator are tested.The test result indicate that the maximum error between natural frequencies obtained by the theoretical model and finite element analysis and the test results is less than 5%, which demonstrates that the theoretical model is valid.The natural frequencies and mode shapes of the space micro-vibration simulator are obtained, providing a basis for the subsequent design and test.

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