六自由度摇摆平台的反解模型及其仿真研究  

Model and Simulation Research on the Inverse Kinematics of 6-DOF Swing Platform

作　　者：赵轩[1,2] 纪文刚[1] 左海涛[1] 张睿平 ZHAO Xuan JI Wengang ZUO Haitao ZHANG Ruiping(Department of Automation, Beij ing Institute of Petro-chemical Technology, Beij ing 102617, China College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China)

机构地区：[1]北京石油化工学院自动化系,北京102617 [2]北京化工大学信息科学与技术学院,北京100029

出　　处：《北京石油化工学院学报》2017年第2期54-58,共5页Journal of Beijing Institute of Petrochemical Technology

摘　　要：六自由度摇摆平台驱动缸的缸长变化规律是优化平台结构参数,满足其性能指标要求,找到合理的轨迹规划方法以实现平滑运动和减少震动的关键。为了得到缸长变化规律,推导了六自由度摇摆平台运动学反解算法,在MATLAB/Simulink中利用该算法搭建了摇摆平台的运动学反解模型,并与ADAMS三维仿真结果进行对比,验证了反解模型的正确性。通过模型仿真得到了伺服电动缸的缸长变化曲线,显示了平台在六个自由度上的运动规律,为优化平台结构参数,搭建控制系统提供了依据。The kinematic analysis of the 6--DOF swing platform is the prerequisite to determine the optimized structural parameters of the platform and to set up its control system. Based on the theory of parallel mechanism, the inverse kinematics algorithm is deduced via matrix analysis method. The model and simulation research oninverse kinematics are conducted by using MATLAB/Simulink. The model is validated by comparing Simulink＇s simulation result with ADAMS＇s simulation result. The length variation of six servomotors in 6 DOF is obtained, and the motion rule of the platform under different motion postures is intuitively understood, which laid the foundation for the further research in later period.

关 键 词：六自由度摇摆平台 运动学反解 MATLAB/SIMULINK仿真 ADAMS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]