六自由度地震模拟试验台运动轨迹规划
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摘要
本文以六自由度地震模拟试验台为研究对象,构建了位姿反解模型。提出了一种六自由度地震模拟试验台运动轨迹规划方法,通过位姿反解模型推导出了六自由度地震模拟试验台与手动六自由度平台之间关节空间和工作空间的相似关系。利用相似性关系获得六自由度地震模拟试验台驱动缸的运动方程,实现对手动六自由度平台的运动过程再现。建立了六自由度地震模拟试验台与手动六自由度平台仿真模型,仿真实验结果验证了相似结构六自由度平台之间驱动缸和上平台的运动特性曲线关系。为六自由度地震模拟试验台的控制系统的设计提供参考。
Taking the 6-DOF(6 degrees of freedom) earthquake simulation test bench as the research object,the position inverse solution model has been constructed. A trajectory planning method of 6-DOF earthquake simulation test bench has been put forward. The similarity relationship between joints space and work space among 6-DOF earthquake simulation test bench and manual 6-DOF platform has been derived through the position inverse solution model. The motion equation of driven cylinder for 6-DOF earthquake simulation test bench has been obtained by use of similarity method. The manual 6-DOF platform motion process has been realized again. The simulation models for 6-DOF earthquake simulation test bench and manual 6-DOF platform have been established. The relationship of motion characteristic curve for driven cylinder and the platform between the 6-DOF platforms with similar structure has been verified according to the simulation and experimental results. It provides reference for the design of control system for 6-DOF earthquake simulation test bench.
Taking the 6-DOF(6 degrees of freedom) earthquake simulation test bench as the research object,the position inverse solution model has been constructed. A trajectory planning method of 6-DOF earthquake simulation test bench has been put forward. The similarity relationship between joints space and work space among 6-DOF earthquake simulation test bench and manual 6-DOF platform has been derived through the position inverse solution model. The motion equation of driven cylinder for 6-DOF earthquake simulation test bench has been obtained by use of similarity method. The manual 6-DOF platform motion process has been realized again. The simulation models for 6-DOF earthquake simulation test bench and manual 6-DOF platform have been established. The relationship of motion characteristic curve for driven cylinder and the platform between the 6-DOF platforms with similar structure has been verified according to the simulation and experimental results. It provides reference for the design of control system for 6-DOF earthquake simulation test bench.
引文
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[4]张淼.基于滚珠丝杠传动的六自由度平台设计研究[J].机械传动,2014,(8):100-103.
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[6]刘凉,陈超英,赵新华.考虑关节摩擦的并联机器人平滑轨迹规划[J].机械工程学报,2014,(19):9-17.
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[9]Gao Z,Zhang D,Ge Y.Design optimization of a spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches[J].Robotics and Computer-Integrated Manufacturing,2010,26(2):180-189.
[2]王燕华,程文氵襄,陆飞,等.地震模拟振动台的发展[J].工程抗震与加固改造,2007,(5):53-56+67.
[3]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
[4]张淼.基于滚珠丝杠传动的六自由度平台设计研究[J].机械传动,2014,(8):100-103.
[5]Constantinescu D,Croft E A.Smooth and time-optimal trajectory planning for industrial manipulators along specified paths[J].Journal of Robotic Systems,2000,17(5):233-249.
[6]刘凉,陈超英,赵新华.考虑关节摩擦的并联机器人平滑轨迹规划[J].机械工程学报,2014,(19):9-17.
[7]Khoukhi A,Baron L,Balazinski M.Constrained multi-objective trajectory planning of parallel kinematic machines[J].Robotics and Computer-Integrated Manufacturing,2009,25(4-5):756-769.
[8]贾长志,主编.MD ADAMS虚拟样机从入门到精通[M].北京:机械工业出版社,2010.
[9]Gao Z,Zhang D,Ge Y.Design optimization of a spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches[J].Robotics and Computer-Integrated Manufacturing,2010,26(2):180-189.