Gough-Stewart平台高效动力学建模研究

An Efficient Method for Dynamic Modeling of Gough-Stewart Platforms

运用凯恩方法建立并联机构动力学模型,以并联机构动平台参考点的速度和角速度作为伪速度,推导各个驱动杆和动平台偏速度和加速度,建立各个构件的凯恩方程,并加以综合,得出系统的动力学模型。所得模型表达简洁,变量和方程的数目少,适用范围广,计算效率高,适于并行计算。该方法便于在任务空间建立控制模型,并为并联机床的动态分析与设计提供了基础。

Compared with the traditional dynamic analysis methods, the Kane＇s method is more efficient and flexible, and the final dynamic equations are very concise. Based on Kane＇s method, the dynamic equations of Gough-Stewart platforms are derived in this paper. Because the dynamic model of parallel manipulators established in the task space is simpler than that in the joint space, the partial velocities and partial angular velocities of six branches and moving platform are derived by using velocity and angular velocity of the origin point of moving platform as quasi-velocity of the system. In addition, the parallel computation technology can be applied to improving computational efficiency in this method. This dynamic model can be used in the control and design of parallel manioulators.