摘要
根据Stewart结构制作了一个六自由度运动平台,并以该平台为主要研究对象,构建了整个位姿系统的模型。运用SolidWorks和ADAMS软件,构建平台仿真模型并进行仿真分析,得出上平台以及各缸体的运动特性曲线,验证平台设计的合理性与准确性。同时分析了整个平台机构的运动过程、运动的极限位置、转角、干涉情况、空间运动位置和运动参数等,对整个六自由度液压系统的安全性及可靠性有重要的指导作用。
A platform was developed which had six degrees of freedom according to the Stewart structure. The model of the posi- tion and orientation system was constructed, By using SolidWorks and ADAMS, the model of the platform was built and simulated. Then the motion curves of the platform and the cylinder were gotten. The movement process of the platform, movement limit position, angle, the interference, space motion location and motion parameters were analyzed. It plays an important guiding role in the safety and reliability of the whole 6-DOF hydraulic system.
出处
《机床与液压》
北大核心
2012年第13期166-169,174,共5页
Machine Tool & Hydraulics
关键词
六自由度液压平台
建模
运动学仿真
6-DOF hydraulic platform
Modeling
Kinematic simulation
