Stewart平台关节空间惯性矩阵块对角占优分析与判别  

Block Diagonal Dominance Analysis and Judgement of Stewart Platform's Joint-space Inertia Matrix

作　　者：姚郁[1] 傅绍文[1] 韩蕾[2] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150080 [2]中国民航大学航空自动化学院,天津300300

出　　处：《机械工程学报》2008年第6期101-106,共6页Journal of Mechanical Engineering

摘　　要：分析Stewart平台关节空间动力学模型惯性矩阵块对角占优特性,并给出相应的判别方法。首先使用拉格朗日方法建立平台关节空间动力学模型。然后针对平台几何结构指出一般情况下邻近支路耦合最为强烈,即关节空间动力学模型的惯性矩阵是块对角占优的,并定义反映这种耦合关系的矩阵块对角占优指标。最后给出一种判别平台惯性矩阵在给定工作空间内是否满足块对角占优指标的方法,依据该方法在给定工作空间内选择有限个位置姿态点,若惯性矩阵在这些位姿点处具有块对角占优特性,则可保证给定空间内任意点均具有这种特性。由于Stewart平台具有惯性矩阵块对角占优特性,在研究其控制方法时可将耦合强烈的邻近支路加以整体考虑,即分散控制三个两输入两输出子系统,从而降低传统单输入单输出单通道控制方法的保守性。For Stewart platform＇s dynamic model in joint-space, its inertia matrix＇s block diagonal dominance is analyzed. Firstly, the platform＇s dynamic model is formulated by Lagrange method. Secondly, according to the platform＇s geometry structure, it could be found that coupling of neighboring struts is most strong under normal circumstances, namely the inertia matrix is block diagonally dominant, and the corresponding index that indicates this inertia coupling characterization is defined. Finally, an approach for judging inertia matrix＇s block diagonal dominance is proposed. Finite platform＇s displacement points can be selected by using this a pproach, and the inertia matrix is block diagonally dominant in the given workspace if it is so on these points. As to the block diagonal dominance, the strong coupled struts could be considered integrally and the whole system is divided into three double inputs and double outputs subsystems. In such a way, the conventional single input and single output control method＇s conservativeness is reduced.

关 键 词：STEWART平台 关节空间 动力学耦合 块对角占优矩阵 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]