Stewart型六自由度运动平台反解算法研究

Research of Inverse Solution Algorithm for a 6-DOF Stewart Motion Platform

Stewart型六自由度运动平台,能够完成空间中六个自由度的运动。该文通过研究Stewart平台的机构特点和相关理论,总结出其运动学反解的运算规律,根据运动规律编写了反解算法,并通过Matlab中的Simulink建立了运动模型。给定目标姿态曲线,通过运算对运动仿真模型进行控制,即可得出运动曲线。通过比较仿真曲线与目标姿态曲线的吻合程度,即可判断算法的正确性。该研究过程为六自由度运动平台及其控制系统搭建提供了理论依据,为六自由度运动平台作为振动台进行测试试验奠定了基础。

6-DOF motion stewart platform can actualize the space movements at six degrees of freedom.In this paper,the mechanism characteristics and related theory of the stewart platform will be researched.And then,the operation law of its kinematic inverse solution will be summarized.The inverse solution algorithm will be written,and the motion model will be established through Simulink in MATLAB.We give a target attitude curve to get the simulation curve by controlling the motion model through caculation.Then,the correctness of the algorithm can be judged by comparing the simulation curve with the target attitude curve.The research process provides a theoretical basis for the6-dof motion platform and its control system,and lays the foundation for the6-dof motion platform as a vibration table test.