基础激励下6-UHP并联平台的动力学建模与仿真
基础激励下6-UHP并联平台的动力学建模与仿真基础激励下6-UHP并联平台的动力学建模与仿真.pdf(758.21 KB, 下载次数: 0)<div class="tip tip_4" id="attach_6253_menu" style="position: absolute; display: none" disautofocus="true"><div class="tip_c xs0">2017-8-31 23:46 上传
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基础激励下6-UHP并联平台的动力学建模与仿真
王晓明1,2, 徐振邦1, 王兵1,2, 梁凯翔1,2, 吴清文1
1. 中国科学院长春光学精密机械与物理研究所空间机器人工程中心空间机器人系统创新研究室，吉林 长春 130033；
2. 中国科学院大学，北京 100049
Dynamic Modeling and Simulation of a 6-UHP Parallel Platform under Base Excitation
WANG Xiaoming1,2, XU Zhenbang1, WANG Bing1,2, LIANG Kaixiang1,2, WU Qingwen1
1. Innovation Lab of Space Robot System, Space Robotics Engineering Center, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
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输出:BibTeX | EndNote (RIS)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 1:
TH113.1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．
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