摘要
Stewart平台是一种6自由度的并联机器人机构,该文介绍了基于Simulink的SimMechanics模块集对Stewart平台进行仿真研究的方法,在具体分析SimMechanics模块集中各模块的使用及参数设置方法的基础上,运用该模块集对Stewart平台进行了建模。既便于使用SimMechanics模块集建立其他复杂机械系统的模型,又利于对Stewart平台进行深入研究。最后针对某Stewart平台的轨迹跟踪问题进行了仿真研究,获得了满意的结果。
Stewart platform is a parallel mechanism with six degrees of freedom . Based on the SimMechanics Blockset of Simulink, this paper introduces the method of simulation research for Stewart platform, after explaining how to use every block and set the parameters of them in detail, sets up the model of Stewart pla tform using this Blockset, which is useful to set up models of other complicated mechanical systems and to study Stewart platform deeply. At last the trajectory tracing problem of a certain Stewart platform is studied, and the simulation re sults are satisfactory.
出处
《计算机仿真》
CSCD
2005年第4期264-268,共5页
Computer Simulation
