摘要
建立了Stewart平台的动力学模型,对潜器的动力学特征进行分析,对其运动进行动力学仿真研究.以Stewart平台的任意支腿为研究对象,考虑各支腿的重力和惯性力,利用牛顿-欧拉方法建立了支腿及动平台的力和力矩平衡方程,推导出了Stewart平台的动力学方程及支腿所受的支反力.以潜艇模拟器并联机构为例,运用动力学模型进行了实际计算并绘制了支腿驱动力的变化曲线,将驱动力与支腿运动速度相乘得到支腿功率输出的变化曲线,为液压油缸的功率设计提供了依据,也为潜器的精确动力学解耦奠定了基础.
A dynamics model of Stewart platform is presented to analyze the dynamics character of submarine. In order to construct a complete dynamic model with the consideration of the effect of all parts＇ gravity and inertia force, the balance equations of legs and platform＇ s forces and moment are carried out by the Newton - Euler approach. As an example, leg forces of a Stewart platform are calculated and the force curves are drawn. Leg power is driven by the product of forces and velocities of the Stewart platform, and the corresponding power curves are drawn, which can be used to design the hydraulic cylinder＇ s power and achieve the exact solution.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2009年第9期249-251,255,共4页
Journal of Harbin Institute of Technology
