摘要
以三自由度Stewart并联平台为研究对象,提出了一种Stewart并联平台重心稳定的分析方法,并对其进行Simulink仿真。利用三维建模软件Creo建立三自由度Stewart平台的三维模型。通过Creo里的接口,将Stewart平台三维模型导入Simulink中生成对应的Simmechanics模块,包括3条运动支链,每条支链由铰链、电动缸、驱动杆、动、定平台等组成。在Simulink的仿真环境中,对3条支链的电动缸添加驱动模块,再使用Fcn函数编程,使驱动模块对电机施加驱动,从而产生驱动杆不同的伸长量,达到动平台的预定运动轨迹。在Simulink环境下,通过编程实现三自由度Stewart并联平台动平台的一种特殊运动,即动平台与水平面成一定的二面角旋转一周,而动平台自身的重心保持稳定。
By studied a three degree of freedom （3-DOF） parallel platform, a Stewart parallel platform center of gravity stability analysis method is presented, and its Simulink simulation is carried out. First, a three dimensional （3D） model of 3-DOF Stewart motion platform was built in 3D Creo modeling environment, and then input to Simulink through Creo to generate cooresponding Simmechanics modules, including the three motion branches, each branch consisted of the hinge, electric cylinder, drive rod, moving and fixed platform, and etc. Next, in the Simulink simulation environment, the three branched motor modules was added with drive module, and then the Fcn function programming was used, so that the drive module on the machine to drive the motor, resulting in a different amount of the drive lever to achieve a predetermined trajectory of the moving platform. Finally, in the Simulink environment programming is to achieve a rotation of platform for a cycle at a certain angle formed between the two planes of platform and water level, while the center of gravity is stable of the 3D Stewart motion platform＇ s own special movement.
出处
《机床与液压》
北大核心
2018年第3期50-53,共4页
Machine Tool & Hydraulics
基金
江苏省自然科学基金资助项目(BK20150186)
徐州市科技计划项目(KC16SH064)
