六自由度运动平台运动学建模与仿真分析  

Kinematics Modeling and Simulation Analysis of 6-DOF Motion Platform

作　　者：刘喜藏 马铭泽 林皓 LIU Xi-cang;MA Ming-ze;LIN Hao(AVIC The First Aircraft Institute,Xi'an 710089,China)

机构地区：[1]航空工业第一飞机设计研究院,陕西西安710089

出　　处：《测控技术》2022年第4期114-120,125,共8页Measurement & Control Technology

摘　　要：针对并联结构形式的六自由度运动平台,建立了其数学描述方法。通过引入点的复合运动分析理论,建立了平台的完整运动学关系。采用牛顿迭代法进行平台位姿的正解求解,并在此基础上利用解析方法解决了平台速度、加速度正解问题。根据六自由度运动平台的使用特点,提出了一种合理的牛顿迭代初值选择方法。仿真结果表明其迭代寻优次数不超过5次,寻优时间不超过2 ms。分析了计算运动平台包线的理论难度,提出了一种合理的可行方案,经过64次计算,耗时55 ms即完成了平台包线的解算。所建立的运动学模型已应用于某运动平台产品,并可延伸应用于其他并联结构机器人运动分析、并联机床等应用领域。The mathematical description method of 6-DOF motion platform with parallel structure is established.By the composite motion theory of points, the complete kinematic relationship of the platform is established.The Newton iterative method is used to solve the forward solution of the platform pose.On this basis, the forward solution of the platform velocity and acceleration is solved by the analytical method.According to the characteristics of the use of 6-DOF motion platform, a reasonable Newton iterative initial value selection method is proposed.The simulation results show that the number of iterative optimization is no more than 5 times and the optimization time is no more than 2 ms.The theoretical difficulty of calculating the envelope of the motion platform is analyzed, and a reasonable and feasible scheme is proposed.After 64 calculations, the platform envelope is solved in 55 ms.The established kinematics model has been applied to the motion platform products, and can be extended to other application fields such as motion analysis of parallel structure robots and parallel machine tools.

关 键 词：六自由度运动平台 并联结构 运动学建模 运动学正解 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]