六自由度并联机构的控制系统及仿真试验探究  

Research on the Control System of Six DOF Parallel Mechanism and Simulation Explore

作　　者：姜昆鹏 陈敏[1] 丁建军 蒋大伟[1] 郑刚[1] JIANG Kun-peng CHEN Min DING Jian-jun JIANG Da-wei ZHENG Gang(School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China China Shipbuilding In- dustry Corporation 704 Research Institute, Shanghai 200000, China)

机构地区：[1]江苏大学机械工程学院,江苏镇江212013 [2]中船重工第704研究所,上海200000

出　　处：《组合机床与自动化加工技术》2016年第9期43-46,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家中小型企业创新基金项目(13C26213202029);国家自然科学基金(青年)(51206064);江苏省高校自然科学基金(12KJB470003);镇江市科技计划项目(SGY20130037)

摘　　要：对六自由度并联机构液压系统主要的动力执行机构进行数学模型的建立以及稳定性简要分析,以满足六自由度并联机构中六个独立的单缸伸缩机构在速度、位移及加速度等运动指标的要求;文章在进行三维建模后按田间路谱信息的要求运用ADAMS对并联机构整体进行运动模拟仿真;考虑到系统中的伺服阀误差分析,针对仿真得到的结果选取一驱动函数在AMESIM建立的系统中变化伺服阀前置放大级与PID控制共同调节系统误差,实现与所选取的驱动函数准确跟随。The mathematical model of the six DOF parallel mechanism is established and the stability for power execution mechanism is also analyzed to achieve the independent or coupled action of six DOF parallel mechanism; ADAMS is used to simulate after 3D modeling according to the field road spectrum acquisition; PID control system and preamplifier are used to analysis the error of servo valve based on a function of the motion in the AMESim; Simulation results showthat the motion can be adjusted accurately.

关 键 词：液压系统 数学模型 误差分析 仿真探究 

分 类 号：TH137[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]