摘要
基于Newton-Euler法对三向六自由度(6-PSS)并联地震模拟器进行了动力学分析,分析了地震模拟器运动平台与各构件运动参量之间的关系;考虑重力与惯性力的影响,推导了并联机构杆件和运动平台动力学方程,并消去各构件之间的内力,建立了机构整体动力学方程;基于动力学模型进行动平台各驱动力的数值仿真.结果表明,6-PSS并联机构适用于地震模拟器,所建立的动力学模型能够作为其精确控制的数学模型.
Based on Newton-Euler method,the research on the dynamics of a 6-PSS parallel earthquake simulator was presented.The relations of motion parameters between the platform and other poles were deduced.Newton-Euler equations were educed for every poles and the platform respectively with thinking about the effect of the gravity and inertia force of all components.After all of forces between poles and between platform and other poles being removed,equations for the inverse dynamics of the holistic parallel mechanism were established.According to the dynamic model,a numerical simulation was presented and the driving force emulational curves for different modes of vibration were obtained.The results show that not only the dynamic model is valid but also this earthquake simulator is suited to simulate seism.The dynamic model also has a potential application of accurate control to the parallel earthquake simulator.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2011年第9期1263-1268,共6页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金项目(50821003)
国家高技术研究发展计划(863)项目(2009AA044101)
关键词
地震模拟器
动力学模型
动力学仿真
并联机器人
earthquake simulator
dynamic model
simulation of dynamics
parallel robot
