4-Stewart并联平台的运动学分析  

Kinematics Analysis of a 4-Stewart Parallel Platform

作　　者：高征[1] 郭钰莹 苏锐 王璐 GAO Zheng;GUO Yu-ying;$U Rui;WANG Lu(School of Electronics and Information Engineering, Hebei University, Hebei Baoding 071002, China)

机构地区：[1]河北大学电子信息工程学院,河北保定071002

出　　处：《机械设计与制造》2018年第6期37-40,共4页Machinery Design & Manufacture

基　　金：河北省高等学校科学技术研究重点项目(ZD2016149);国家自然科学基金资助项目(61203160)

摘　　要：提出了一种可应用于实现多路况模拟的多车型通用汽车驾驶训练装置的4-Stewart并联运动平台。介绍了该平台的组成,在Solidworks中构建了该装置的三维模型。首先,对4-Stewart并联平台的汽车驾驶模拟器进行了机构说明,并建立了坐标系;其次,以汽车和四个较小的六自由度Stewart并联机构构成的运动平台为研究对象,利用空间结构分析方法,得出了汽车驾驶训练装置的运动学反解方程,并用MATLAB编程进行了具体的数值计算;最后,在相同车型、能够实现相同运动输出的情况下,计算传统的汽车驾驶模拟器的结构尺寸和驱动副的输入范围,将各相关参数与4-Stewart并联运动平台相比较,得出了该运动平台体积小、加工工艺好、易控制等结论,为进一步的研究奠定基础。A kind of 4-Stewart parallel motion platform which can be applied to a vehicle driving training device that can provide various road conditions and be suitable for more vehicle models was presented. Introduces this platform＇s composition and build the 3 D models of the vehicle driving training device in Solidworks. First,explained the mechanism constitution of the 4-Stewart parallel platform which is applied to the vehicle driving training device. And coordinate system is established;Second,the kinematics inverse equation of the vehicle driving training device was accomplished by the method of the spatial structure analysis mainly taking the motion platform which consist of car and four small six degrees of freedom Stewart parallel mechanisms as the research object. Then carried on a specific numerical calculation in MATLAB through programming;Finally,both structure size and input range of drive pair of the traditional vehicle driving simulator is calculated when they have the same vehicle model and same motor outputs. Compared with the relevant parameters of 4-Stewart parallel motion platform,it concluded that the 4-Stewart motion platform has a smaller size、better processing technology and easy to control,which laying a foundation for a further study.

关 键 词：并联机构 STEWART平台 驾驶模拟器 运动学 位姿 反解方程 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]