动感模拟Stewart平台负载交联耦合特性的研究  

Research on Load Coupling Characteristics for Innervation Simulation Stewart Platform

作　　者：吴博[1] 徐雳[1] 吴盛林[2] 赵克定[2] 

机构地区：[1]哈尔滨理工大学,哈尔滨150080 [2]哈尔滨工业大学,哈尔滨150001

出　　处：《中国机械工程》2009年第10期1155-1158,共4页China Mechanical Engineering

基　　金：哈尔滨理工大学青年科学研究基金资助项目(2008XQJZ004)

摘　　要：基于Stewart平台关节空间动力学方程,分析了影响通道间负载交联耦合的主要因素,采用矩阵和向量范数理论提出了4种负载交联耦合评价指标。基于平台结构设计参数,运用负载交联耦合评价指标,对飞行模拟Stewart平台通道间负载交联耦合进行了仿真研究,并用飞行模拟Stewart平台试验样机进行了试验验证,证明了负载交联耦合评价指标的有效性和合理性。The main elements affecting load coupling characteristics among channels were analysed based on joint space dynamics equations of Stewart platform, and four kinds of load coupling evaluation index were presented with the matrix and vector norm theory. Based on platform structural design parameters, simulation research of load coupling among channels for flighting simulation Stewart platform was achieved by using load couping evaluation indexes, and the experimental validation of flighting simulation Stewart platform test prototype was done, which proved the validity and rationality of the load coupling evaluation indexes.

关 键 词：动感模拟 STEWART平台 负载交联耦合 评价指标 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]