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

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

  • 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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