6-UPU电动平台动力学完整模型与简化模型仿真分析  

Integrated and Simplified Dynamics Modeling Simulation Analysis of 6-UPU Electric Platform

作　　者：武光华[1] 龚烈航[1] 卢颖[2] 盖永军[2] 潘春萍[2] 

机构地区：[1]解放军理工大学工程兵工程学院,南京210007 [2]空军航空大学军事仿真技术研究所,长春130022

出　　处：《农业机械学报》2011年第4期195-200,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：空装科订部资助项目

摘　　要：以6-UPU电动平台为研究对象,分析其构型不同点,在考虑电动缸质心偏离轴线位置与丝杠装置绕自身转动的基础上,基于运动学分析建立了完整的动力学模型并写成一般形式。以工程实际中的低速大负载电动平台为例,对完整与简化两种动力学模型进行了仿真分析,其误差度在1%~2.2%的范围内,验证了动力学模型简化条件的合理性。实例表明,所建模型对类似构型的运动平台有一定的通用性。6-UPU electric platform was analyzed considering of the different points of the structural type.An integrated dynamic model of 6-UPU electric platform was built and written to general form based on kinematics analysis,considering of centroids of electric actuator deviating the axes of themselves and snail-mechanism going around the axes of themselves.Taking the heavy load electric platform with low speed as example,both integrated and simplified dynamics model were emulated and analyzed.The reasonability of the simplified condition of dynamics model was verified.The error tolerance was within 1% to 2.2%.A numerical example showed that this model had universality for the move platform of the similar mechanisms.

关 键 词：电动平台 运动学分析 动力学模型 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]