复合式六自由度平台运动学仿真分析

Kinematics simulation analysis on composite six-DOF platform

针对常见的六自由度平台运动空间较小、体型较大等不足,设计了一种复合式六自由度平台。采用D-H参数法建立平台连杆坐标系,求得平台的运动学基本方程和正反解。利用SolidWorks建立平台3D模型,导入ADAMS进行运动学仿真与分析。通过对平台x,y,z方向位移、速度、角速度、加速度、角加速度仿真曲线的分析,验证了平台结构设计的合理性,为后期优化设计和强度校核提供了理论参考。

Aiming at the disadvantages of the common six-DOF platform such as small motion space and large dimensional size, a composite six-DOF platform is designed. D-H parameter method is adopted to establish the platform linkage coordinate system, by which the basic equations and forward-inverse solutions of the platform kinematics are all obtained. SolidWorks is used to establish the 3D platform model, which is then imported into ADAMS for kinematics simulation and analysis. Simulation curves of displacement, velocity, angular velocity, acceleration and angular acceleration in x, y and z directions of the platform are analyzed, verifying the rationality of the platform structure design and providing theoretical basis for the optimization and strength check.