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.
Dynamic modeling and simulation of a 6-UHP （universal-Hooke-prismatic） parallel platform under base exci- tation are studied for the requirements of vibration isolation and precision pointing technology. Firstly, the structure charac- teristics 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.
出处
《机器人》
EI
CSCD
北大核心
2016年第6期687-695,共9页
Robot
基金
国家自然科学基金(11672290)
关键词
并联平台
精密指向
KANE方法
动力学建模
联合仿真
parallel platform
precision pointing
Kane formulation
dynamic modeling
co-simulation
