6UPS并联机构机电耦合动力学仿真

Electromechanical Coupling Dynamic Simulation of 6UPS Parallel Manipulator

并联机构机电耦合动力学模型是一个多输入、多输出、非线性、强耦合的复杂机电系统,目前还没有一个成熟的并联机构动力学建模和仿真计算方法。文中针对6UPS并联机构,利用MATLAB建立了包括机械机构、伺服电机和控制器的一体化的动力学模型;设计了伺服控制器并对控制参数进行了整定。计算机仿真结果验证了机电耦合动力学模型建模正确合理;控制器对机构位移和伺服电机转距良好的控制。

Electromechanical coupling dynamic model of parallel manipulator is a multi-input, multi-output, non-linearity, tight coupling, and complicated electromechanical coupling system. There is no ripe method of dynamic modeling and simulation calculation for parallel mechanism. 6UPS parallel mechanism model including mechanism, servomotor and controller was established by MATLAB software. Servo controller was designed and controller parameters were fine-tuned. The results of computer simulation validate the rationality of modeling of electromechanical coupling dynamics and show the optimal control of the mechanism＇s displacement and torque of the servomotor by controller.