基于ADAMS和Matlab/Simulink的6-UCU型Stewart并联机构联合仿真

Co-simulation for 6-UCU Stewart Parallel Mechanism Based on ADAMS and Matlab / Simulink

针对Stewart并联机构,对其ADAMS和MATLAB/Simulink联合仿真进行理论剖析,并与其它设计方案进行比较,得出了联合仿真的优点。针对6-UCU型Stewart,分别用ADAMS运动学模型和ADAMS动力学模型与对称阀控制非对称缸的Simulink控制模型进行联合仿真,得出在关节空间控制中基于ADAMS动力学模型比基于ADAMS运动学模型仿真结果更优的结论。

For Stewart parallel mechanism,co-simulation was analyzed theoretically based on ADAMS and MATLAB / Simulink.Through comparing it with other design schemes,the advantages of the co-simulation were obtained. Co-simulation was done by aimed at 6-UCU Stewart,for Simulink control model of symmetrical valve controlling asymmetric cylinder by using respectively ADAMS kinematics model and ADAMS dynamics model. It was obtained that in the joint space control,the model based on ADAMS dynamics has a better simulation result than that based on ADAMS kinematics.