六维加载试验平台运动学建模与仿真  

Kinematics Modeling and Simulation of Six-Dimensional Loading Test Platform

作　　者：何雨奇 孙勇 云峰 董凌宇 梁超 陈云超 李洪营 石伟 王伟 HE Yuqi;SUN Yong;YUN Feng;DONG Lingyu;LIANG Chao;CHEN Yunchao;LI Hongying;SHI Wei;WANG Wei(Sinotest Equipment Co.,Ltd.,Changchun 130103,Jilin,China)

机构地区：[1]中机试验装备股份有限公司,吉林长春130103

出　　处：《工程与试验》2025年第1期17-19,共3页Engineering and Test

摘　　要：本文研究了大型六维加载试验平台六自由度的运动学位姿反解问题。首先对试验平台的运动位置逆解进行了理论分析,建立了机构的位置逆解数学模型,并基于Matlab/Simulink仿真集成环境建立其Simulink模型,实现了平台位姿逆解实时解算。其次,采用多体系统动力学仿真软件Recurdyn建立平台的物理模型,并与Simulink进行联合仿真验证。最后,由所建立的反解模型求解出了加载平台按一定期望姿态运动时各液压缸的伸缩量,为控制平台实现相应运动姿态提供输入量,并将监测的加载平台实际运动姿态参数与期望姿态进行相互对比验证,结果较为精确,证明了所建立的反解模型及解算的正确性。In this paper,the inverse solution of the motion attitude of a large six-dimensional loading test platform with six degrees of freedom is studied.Firstly,the inverse solution of the motion position of the test platform is theoretically analyzed,and the mathematical model of the position inverse solution of the mechanism is established.The Simulink model is established based on the Matlab/Simulink simulation integrated environment,and the real-time inverse solution of the platform is realized.Secondly,the multi-body dynamics simulation software Recurdyn is used to establish the physical model of the platform,and the joint simulation is verified with Simulink.Finally,the expansion of each hydraulic cylinder when the loading platform moves according to a certain expected attitude is solved by the established inverse solution model,which provides input for the control platform to realize the corresponding motion attitude.The actual motion attitude parameters of the monitoring loading platform are compared with the expected attitude,and the results are more accurate,which proves the correctness of the established inverse solution model and solution.

关 键 词：六自由度 运动学分析 Recurdyn仿真 数学模型 液压缸 

分 类 号：TH87[机械工程—仪器科学与技术]