基于ADAMS的六自由度液压动感平台建模及运动学仿真  

Modeling and Kinematics Simulation of 6-DOF Hydraulic Platform Based on SolidWorks and ADAMS

作　　者：林砺宗[1] 潘大亨[1] 傅招国[1] 倪小鹏[1] 

机构地区：[1]华东理工大学机械与动力工程系,上海200237

出　　处：《机床与液压》2012年第13期166-169,174,共5页Machine Tool & Hydraulics

摘　　要：根据Stewart结构制作了一个六自由度运动平台,并以该平台为主要研究对象,构建了整个位姿系统的模型。运用SolidWorks和ADAMS软件,构建平台仿真模型并进行仿真分析,得出上平台以及各缸体的运动特性曲线,验证平台设计的合理性与准确性。同时分析了整个平台机构的运动过程、运动的极限位置、转角、干涉情况、空间运动位置和运动参数等,对整个六自由度液压系统的安全性及可靠性有重要的指导作用。A platform was developed which had six degrees of freedom according to the Stewart structure. The model of the posi- tion and orientation system was constructed, By using SolidWorks and ADAMS, the model of the platform was built and simulated. Then the motion curves of the platform and the cylinder were gotten. The movement process of the platform, movement limit position, angle, the interference, space motion location and motion parameters were analyzed. It plays an important guiding role in the safety and reliability of the whole 6-DOF hydraulic system.

关 键 词：六自由度液压平台 建模 运动学仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]