基于Matlab/SimMechanics的六自由度并联运动平台建模与分析

Modeling and Analysis of Six-DOF Parallel Platform Based on Matlab/SimMechanics

为了研究六自由度并联运动平台的运动学特性,对六自由度并联运动平台的运动学位置正解与反解进行分析,并利用Matlab的SimMechanics工具箱进行六自由度并联仿真平台的搭建,其包含轨迹产生器、PID控制器、执行机构与输出显示共4个部分。SimMechanics模型仿真结果表明,该仿真平台轨迹跟踪较为准确,验证了仿真平台的有效性,为六自由度并联运动平台的设计与应用开发奠定了理论基础,同时,也对其他结构的并联平台的分析提供了借鉴。

In order to study the kinematics characteristics of the six-DOF parallel platform,the forward kinematics and inverse kinematics of six-DOF parallel platform are analyzed.And a six-DOF parallel simulation platform with the using of SimMechanics tool box under the Matlab environment is designed.It consists of leg trajectory generator,PID controller,executive body and output display.The results of SimMechanics model simulation show that the orbit track of the simulation platform is accurate,which verifies the validity of the simulation platform.It lays a theoretical foundation for the design and application development of six-DOF parallel platform and provides a reference for analysis of other parallel platforms.