四自由度并联跟踪台的软件关键技术  

Key Software Technology of 4-Degree of Freedom Parallel Tracking Platform

作　　者：刘峰[1] 王向军[1] 许洪[1] 张召才[1] 

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《计算机工程》2009年第2期27-29,共3页Computer Engineering

摘　　要：研究四自由度并联跟踪台中的软件关键技术,编写Matlab仿真程序对并联跟踪台进行参数化设计,利用Solidworks与ADAMS联合仿真软件获取并联跟踪台的运动学和动力学性能参数,通过对操纵杆的编程实现对并联跟踪台的手动控制。实验结果表明,四自由度并联跟踪台设计合理、运动灵活、手控效果好。During the development of the 4-degree of freedom parallel tracking platform, the key software technology of which is studied. The following things are introduced： the method of compiling Matlab code to emulate parameterization of the parallel tracking platform, the method of using Solidworks and ADAMS software to get the kinematics ＆ dynamics performance parameter of the parallel tracking platform and the method of programming on the biaxial joy stick to realize the manual control of the parallel tracking platform. Experimental rusult shows that the 4-degree of freedom parallel tracking platform is of proper design, flexible movement and well manual control property.

关 键 词：并联跟踪台 Matlab参数化仿真 联合仿真 手动控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]