基于Kane方程的并联平台建模方法  

Modeling Method of Parallel Platform Based on Kane Equation

作　　者：齐嘉兴 赵修平 QI Jiaxing;ZHAO Xiuping(Naval Aviation University,Yantai 264001,China)

机构地区：[1]海军航空大学,山东烟台264001

出　　处：《兵器装备工程学报》2020年第3期211-215,共5页Journal of Ordnance Equipment Engineering

摘　　要：根据Kane方程建立六自由度并联平台的动力学模型,以螺旋坐标表示动平台的空间姿态,以动平台的空间速度分量作为广义速率,分析了杆件、铰点和动平台速度之间的映射关系,给出了偏速度矩阵和偏角速度矩阵,最终推导出了并联平台的动力学方程。通过仿真验证了模型的正确性,为进一步对并联平台基于模型的精确控制提供了基础。According to Kane equation,the dynamic model of 6-DOF parallel platform was established.The space attitude of the platform was represented by helical coordinates,and the space velocity component of the platform was taken as the generalized velocity.The mapping relationship among the speed of rod,hinge and moving platform was analyzed.The partial velocity matrix and the partial angular velocity matrix were given.Finally,the dynamic equation of parallel platform was deduced.The correctness of the model was verified by simulation,and a basis for further model-based precise control of parallel platforms was provided.

关 键 词：KANE方程 并联平台 动力学 

分 类 号：TH12[机械工程—机械设计及理论]