摘要
基于刚柔混合多体系统动力学的模态综合法研究了LT50 m模型中精调稳定Stewart平台的动力学问题,计算了支腿弹性变形对Stewart平台定位精度的影响。仿真结果表明,在LT50 m模型中,相对于实验获得的支腿进给误差和Stewart平台固有的加工制造误差对系统定位精度造成的影响,支腿的弹性变形可以忽略不计。
Based on the model synthesis method for rigid-flexible multibody system dynamics, the dynamics for the fine tuning stable Stewart platform for LT50 m model is analyzed, and the effects of legs＇ elastic deformation on kinematic accuracy are also calculated. The simulation results indicate that in the LT50 m model the legs＇ elastic deformation can be neglected compared with the influence on the positioning accuracy of legs＇ actuating error obtained in the experiment and manufacturing error inherent in the platform.
出处
《机械科学与技术》
CSCD
北大核心
2005年第10期1148-1150,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50075065)
教育部留学回国人员实验室基金(030401)资助
