摘要
通过分析液压驱动六自由度运动平台的运动学,给出了系统各部件的速度、加速度之间的关系。利用雅克比矩阵将各部分惯量影响投影到平台广义速度方向,运用凯恩方程建立了考虑支链液压缸惯性影响的系统完整的动力学模型。由动力学模型计算出平台在以不同的姿态运动时各支链的受力情况,为并联运动平台的设计优化以及动态分析提供了基础。最后运用所建立的动力学模型对实际运动平台的驱动力进行了仿真分析计算。
The relationship between velocity and acceleration of various components of an electro-hydrau-lically driven parallel platform is presented through analyzing its kinematics. Through projecting the inertia of the components to the velocity direction of the platform by using Jacobian matrices, the complete dy- namics model with actuators＇ inertia considered is derived from Kane＇s equation. The dynamic model can compute the force acted on the actuators and caused by the motion of the platform, which provides the ba- sis for design optimization and dynamic analysis of the parallel platform. The model is applied to compu- ting and analyzing the drive force of an actual parallel platform.
出处
《机械科学与技术》
CSCD
北大核心
2006年第4期382-385,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
动力学
并联平台
凯恩方程
dynamics
parallel platform
Kane equation
