Stewart型六自由度并联运动平台运动分析及仿真  

Six Degrees of Freedom Parallel Motion Platform Motion Analysis and Simulation

作　　者：李海涛 马军 LI Hai-tao;MA Jun(College of Mechanical and Electrical Engineering,Shaanxi University of Science&Technology,Shaanxi Xi'an 710021,China)

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021

出　　处：《机械设计与制造》2022年第3期279-283,共5页Machinery Design & Manufacture

基　　金：陕西省教育厅专项项目(19JK0138);陕西省科技厅自然科学基础研究计划项目(2019JQ-783)。

摘　　要：为研究Stewart型六自由度并联运动平台的运动学正解,首先建立了空间运动数学模型,对坐标变换、复合姿态和逆解进行了分析计算。其次,提出了一种隐函数图解法,借助MATLAB能在1s内快速解算出平台的运动学正解,误差仅在0.05%内。最后,阐述了MATLAB/SimMechanics仿真模型的建立过程,实现了运动姿态可视化效果,并给定轨迹进行模拟,结果与预设相符,进一步验证了方法的正确性与可靠性,有助于对运动平台快速准确地控制。In order to study the forward kinematics solution of Stewart 6-DOF parallel motion platform,the mathematical model of space motion is established,and the coordinate transformation,composite posture and inverse solution are analyzed and calculated.Secondly,an implicit function graphical method is proposed.With the help of MATLAB,the forward kinematics solution of the platform can be quickly solved in 1 s,and the calculation error is only within 0.05%.Finally,the establishment process of the simulation model of MATLAB/SimMechanics is described.The visualization effect of the 3D motion is realized and the given trajectory is simulated.The results are consistent with the presupposition.The correctness and reliability of the method are further verified,which is helpful to the rapid and accurate control of the moving platform.

关 键 词：并联机器人 六自由度 MATLAB/SimMechanics仿真 数学建模 

分 类 号：TH16[机械工程—机械制造及自动化]