基于ADAMS的Stewart平台运动学分析

Kinematics Analysis of Stewart Platform Based on ADAMS

针对在Stewart 6自由度并联平台设计中,支腿的运动学及动力学参数理论计算过于复杂的问题,课题组提出了基于ADAMS的Stewart平台反解与正解相结合的分析方法。首先,通过ADAMS反解求得支腿位移参数;然后,将位移参数转换为驱动函数添加在各个支腿上;接着,通过ADAMS正解求解支腿其余运动参数;最后,通过实例对比理论计算与ADAMS分析数据。结果表明:课题组提出方法求得的支腿位移与理论值之差均小于0.01 mm,支腿最大速度及最大加速度与理论值误差均小于2%,从而验证了该分析方法的合理性与科学性。该分析方法为工程中遇到的6自由度平台已知动平台驱动函数求解支腿参数的实际问题提供了一种高效的解决办法。

Aiming at the problem that the theoretical calculation of the kinematic and dynamic parameters of the legs was too complicated in the design of the Stewart 6-DOF parallel platform, an analysis method combining the inverse solution and the forward solution of the Stewart platform based on ADAMS was proposed. Firstly, the displacement parameters of the leg were obtained by ADAMS inverse solution;then, the displacement parameters were converted into driving functions and added to each leg;finally, the remaining motion parameters of the leg were solved by ADAMS positive solution. The theoretical calculation and ADAMS analysis data were compared through examples. The results showed that the difference between the displacement value of the leg and the theoretical value is less than 0.01 mm, and the error between the maximum velocity and the maximum acceleration of the leg and the theoretical value is less than 2%, which verified the rationality and scientificity of the analysis method. This analysis method provids an efficient solution for the practical problem of solving the leg parameters of the 6-DOF platform with the known moving platform driving function.