倒挂六自由度运动平台设计研究

A Design and Research of Upside Down 6-DOF Motion Platform

六自由度平台由于其高精度高承载能力被广泛应用于精密数控机床、航海航空设备等场合。本文在已知平台特定的工作环境下,设计了一种倒挂六自由度运动平台。针对倒挂六自由度平台设计中遇到的问题,包括算法、建模与仿真。文中利用平台空间位姿逆解出电缸行程,利用Pro/E软件建立平台的三维模型,运用ADAMS仿真软件对三维模型进行运动学仿真及分析,利用ANSYS Workbench对关键零部件进行有限元应力应变分析。经过仿真分析,得出上平台以及各个缸体的运动特性曲线,也可以检测该平台运动过程中的干涉情况,为结构设计提供了理论依据。

Six degrees of freedom platform is widely used in precision CNC machine tools,navigation and aeronautical equipment and other occasions because of its high precision and high load-carrying capacity. In this paper,an inverted six degree of freedom motion platform is designed under the specific working environment. Problems encountered in the design of inverted 6-DOF platform including algorithms,modeling and simulation. In this paper,the platform stroke is used to inversely solve the stroke of the electric cylinder. The Pro/E software is used to establish the three-dimensional model of the platform. The ADAMS simulation software is used to simulate and analyze the three-dimensional model. The ANSYS Workbench software is used to analyze the stress and strain analysis of the key parts. After simulation and analysis,the motion characteristics curve of the upper platform and each cylinder can be obtained,and the interference in the movement of the platform can also be detected,providing a theoretical basis for structural design.