Stewart平台运动学分析与仿真研究  

The kinematic analysis and simulation research of Stewart platform

作　　者：杜平 

机构地区：[1]海军驻保定地区航空军事代表室,河北保定056028

出　　处：《机械研究与应用》2012年第4期19-22,共4页Mechanical Research & Application

摘　　要：以Stewart平台为研究对象,采用矢量法建立了逆运动学模型,对其位置、速度和加速度进行了分析。采用Newton-Raphson迭代法对该平台运动学正解进行了分析,该方法可以迅速求解,满足控制的实时性要求。机构的运动学模型为该机构作进一步的动力学分析及优化设计研究打下基础,并为系统控制提供理论依据。最后通过建立虚拟样机,进行了运动学和动力学仿真,据此选出了满足实际需要的电机和电动缸。Based on a Stewart platform, the inverse kinematic model is established by using vector method, and the position, velocity and acceleration of the platform are analyzed. And then, the forward kinematic analysis is carried out by Newton- Raphson iteration method, which can solve rapidly and can meet the requirements of real-time control. The kinematic model will be the foundation for dynamics analysis and optimal design research further, and it provides a theoretical base for the sys- tem control of this platform. Finally, the kinematic and dynamic simulation are carried out by building a virtual prototype, and the motor and oower cylinder are selected according to the simulations.

关 键 词：STEWART平台 运动学分析 仿真 

分 类 号：TH123[机械工程—机械设计及理论]