6-UCU并联平台的运动学建模与仿真分析
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摘要
Stewart平台是一种六自由度的并联机构,特别适用于工作范围不大但是负载却很大的工作场合。众多学者在Stewart平台的性能、结构、优化、控制等方面展开了大量的基础研究工作。本文研究的Stewart平台类型为6-UCU型,上支腿与动平台、下支腿与定平台都以万向节连接。运用刚体动力学原理建立Stewart平台的速度和加速度方程,并利用虚拟样机技术对其进行仿真分析,验证了模型的准确性,并为进一步研究提供理论依据。
The Stewart platform is a six-degree-of-freedom parallel mechanism that is well for work situations where the operating range is small and the load is large. A myriad of scholars have carried out a lot of foundational work on the performances,structures,optimizations and the control of Stewart platform. This paper studies the 6-UCU Stewart platform. The upper leg and the movable platform are connected by universal joints. First,the principle of rigid body dynamics is used to establish the velocity and acceleration equations of the Stewart platform. Using virtual prototyping technology for simulation analysis and verifying the accuracy of the model,which lays the foundation for the next research.
The Stewart platform is a six-degree-of-freedom parallel mechanism that is well for work situations where the operating range is small and the load is large. A myriad of scholars have carried out a lot of foundational work on the performances,structures,optimizations and the control of Stewart platform. This paper studies the 6-UCU Stewart platform. The upper leg and the movable platform are connected by universal joints. First,the principle of rigid body dynamics is used to establish the velocity and acceleration equations of the Stewart platform. Using virtual prototyping technology for simulation analysis and verifying the accuracy of the model,which lays the foundation for the next research.
引文
[1] Dasgupta B,Mruthyunjaya T S. The stewart platform maniputlator:a review[J]. Mechanism and Machine Theory,2000,35(02):15-40.
[2] Jeha Ryu,Jongeun Cha. Volumetric error analysis and architecture optimization for accuracy of Hexa Slide type parallel manipulators[J].Mechanism and Machine Theory,2003,(38):227-240.
[3]黄真.空间机构学[M].北京:机械工业出版社,1991.
[4]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,1997:33-34,307.
[5] Gosselin C,Angeles J. Singularity analysis of closed-loop kinematic chains[J]. IEEE Transactions on Robotics and Automation,1990,6(03):281-290.
[6] Jazar R N. Theory of Applied Robotics:Kinematics,Dynamics,and Control[M]. Springer Publishing Company,Incorporated,2010.
[7] Geng Z J,Haynes L S. Six degree-of-freedom active vibration control using the Stewart platforms[J]. IEEE Transactions on Control Systems Technology,1994,2(01):45-53.
[8] Wen F,Liang C. Displacement analysis of the 6-6 Stewart platform mechanisms[J]. Mechanism&Machine Theory,1994,29(04):547-557.
[2] Jeha Ryu,Jongeun Cha. Volumetric error analysis and architecture optimization for accuracy of Hexa Slide type parallel manipulators[J].Mechanism and Machine Theory,2003,(38):227-240.
[3]黄真.空间机构学[M].北京:机械工业出版社,1991.
[4]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,1997:33-34,307.
[5] Gosselin C,Angeles J. Singularity analysis of closed-loop kinematic chains[J]. IEEE Transactions on Robotics and Automation,1990,6(03):281-290.
[6] Jazar R N. Theory of Applied Robotics:Kinematics,Dynamics,and Control[M]. Springer Publishing Company,Incorporated,2010.
[7] Geng Z J,Haynes L S. Six degree-of-freedom active vibration control using the Stewart platforms[J]. IEEE Transactions on Control Systems Technology,1994,2(01):45-53.
[8] Wen F,Liang C. Displacement analysis of the 6-6 Stewart platform mechanisms[J]. Mechanism&Machine Theory,1994,29(04):547-557.