摘要
利用模态综合法描述了柔性支腿的变形 ,探讨了建模过程中部件模态集的选取原则及正交化处理技术。在此基础上建立了柔性Stewart平台的动力学模型 ,并仿真分析了支腿柔性对平台系统动力学特性的影响 ,指出工程应用中支腿的柔性影响可忽略不计。
Deformation of flexible legs is defined by mode synthesis method,and the principle of mode selection and orthogonalization during modeling are discussed.Dynamic model of flexible Stewart platform is obtained based on preceding discussion,and the effects of legs flexibility on dynamic characteristics of the platform system are simulated.Actually,the lges' flexibility can be neglected in engineering.
出处
《机械设计与研究》
CSCD
2003年第6期19-21,共3页
Machine Design And Research
基金
国家自然科学基金资助项目 ( 5 0 0 75 0 65 )
教育部留学回国人员实验室基金 ( 0 3 0 40 1)
