| | 摘要 面向隔振指向技术的研制需求，开展了基础激励下6-UHP（universal-Hooke-prismatic）并联平台的动力学建模与仿真研究．首先，介绍了6-UHP并联平台的结构特点；接着，利用Kane方法对并联平台进行理论建模，得到完整动力学方程；最后，利用联合仿真技术对并联平台的理论模型进行验证．结果表明，仿真得到的6维加速度曲线与输入加速度曲线吻合度良好，最大误差为5．40%，最小误差为0．25%，充分验证了动力学模型的准确性． |
| | 关键词 ： 并联平台, 精密指向, Kane方法, 动力学建模, 联合仿真 | | Abstract：Dynamic modeling and simulation of a 6-UHP (universal-Hooke-prismatic) parallel platform under base excitation are studied for the requirements of vibration isolation and precision pointing technology. Firstly, the structure characteristics of 6-UHP parallel platform are introduced. Then, the theoretical modeling based on Kane formulation is performed, and the complete dynamic equation of the parallel platform is derived. Finally, the theoretical model of the parallel platform is verified by co-simulation. The results indicate that the 6-dimensional acceleration curve obtained from simulation is similar to the input acceleration curve, the maximum relative error is 5.40%, and the minimum relative error is 0.25%. Thus, the accuracy of the dynamic model is fully verified. | | Key words： parallel platform precision pointing Kane formulation dynamic modeling co-simulation | | 收稿日期: 2016-09-01 | | | 基金资助:国家自然科学基金（11672290） | | 通讯作者: 徐振邦，xuzhenbang@gmail.com E-mail: xuzhenbang@gmail.com | 作者简介: 王晓明（1993-），女，博士生．研究领域：空间机器人动力学建模与分析．
徐振邦（1982-），男，博士，副研究员．研究领域：振动控制，空间遥感器的力学分析．
王兵（1989-），男，硕士生．研究领域：空间机器人结构设计． |
| 引用本文: | 王晓明, 徐振邦, 王兵, 梁凯翔, 吴清文. 基础激励下6-UHP并联平台的动力学建模与仿真[J]. 机器人, 2016, 38(6): 687-695.
WANG Xiaoming, XU Zhenbang, WANG Bing, LIANG Kaixiang, WU Qingwen. Dynamic Modeling and Simulation of a 6-UHP Parallel Platform under Base Excitation. ROBOT, 2016, 38(6): 687-695. | | | | | 链接本文: | | http://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0687 或 http://robot.sia.cn/CN/Y2016/V38/I6/687 |
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基础激励下6-UHP并联平台的动力学建模与仿真.pdf
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