并聯(lián)六自由度運(yùn)動(dòng)平臺(tái)機(jī)構(gòu)動(dòng)力學(xué)分析

機(jī)械論文編號(hào):JX853  論文字?jǐn)?shù):11739.頁(yè)數(shù):46   附圖

目  錄
摘     要 i
英文摘要 ii
目  錄 iii
第一章 緒論 1
1.1課題背景 1
1.2六自由度運(yùn)動(dòng)平臺(tái)發(fā)展現(xiàn)狀 2
1.3六自由度運(yùn)動(dòng)平臺(tái)的應(yīng)用 3
1.4六自由度運(yùn)動(dòng)平臺(tái)國(guó)內(nèi)外研究動(dòng)態(tài) 6
1.4.1六自由度運(yùn)動(dòng)平臺(tái)人國(guó)外研究動(dòng)態(tài) 6
1.4.2六自由度運(yùn)動(dòng)平臺(tái)人國(guó)內(nèi)研究動(dòng)態(tài) 6
1.5六自由度運(yùn)動(dòng)平臺(tái)理論研究分析 7
1.5.1運(yùn)動(dòng)學(xué) 7
1.5.2動(dòng)力學(xué) 8
1.5.3控制策略 9
1.6六自由度運(yùn)動(dòng)平臺(tái)深入研究分析 9
第二章 六自由度并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)平臺(tái)結(jié)構(gòu)簡(jiǎn)介 13
2.1六自由度運(yùn)動(dòng)平臺(tái)結(jié)構(gòu)簡(jiǎn)介 13
2.2六自由度運(yùn)動(dòng)平臺(tái)的結(jié)構(gòu)特點(diǎn) 14
2.3六自由度運(yùn)動(dòng)平臺(tái)的結(jié)構(gòu)參數(shù)和工作原理 16
2.3.1基本參數(shù)配置要求 16
2.3.2運(yùn)動(dòng)參數(shù)要求 17
第三章六自由度運(yùn)動(dòng)平臺(tái)的坐標(biāo)系建立 18
3.1坐標(biāo)系的建立 18
3.2坐標(biāo)轉(zhuǎn)換矩陣 19
3.3平臺(tái)位置反解 21
3.4質(zhì)心運(yùn)動(dòng)規(guī)律和控制點(diǎn)運(yùn)動(dòng)規(guī)律 21
第四章 六自由度運(yùn)動(dòng)平臺(tái)動(dòng)力學(xué)分析和鉸點(diǎn)速度、加速度計(jì)算 24
5.1動(dòng)力學(xué)分析 24
5.2速度分析 26
5.3加速度分析 27
第五章 運(yùn)用MATLAB SIMULINK對(duì)六自由度運(yùn)動(dòng)平臺(tái)進(jìn)行仿真分析 30
6.1 MATLAB的簡(jiǎn)介 30
6.2 MATLAB的特點(diǎn) 30
6.3 運(yùn)用MATLAB對(duì)六自由度運(yùn)動(dòng)平臺(tái)進(jìn)行仿真 30
6.3.1仿真原理 30
6.3.2 搖臂軌跡模塊 31
6.3.3 控制模塊 32
6.3.4 平臺(tái)模塊 33
6.3.5 平臺(tái)位置傳感器模塊和結(jié)果顯示 35
6.3.6 實(shí)際參數(shù)輸入的仿真結(jié)果 37
第六章 結(jié)論 40
致  謝 41
參考文獻(xiàn) 42

摘     要
 六自由度運(yùn)動(dòng)模擬器是對(duì)飛機(jī)、艦船、宇航和車(chē)載設(shè)備等進(jìn)行動(dòng)態(tài)性能和可靠性研究的模擬試驗(yàn)裝置，也是相應(yīng)飛行員、船員及車(chē)輛駕駛員進(jìn)行飛行模擬訓(xùn)練、艦船航行模擬訓(xùn)練和車(chē)輛駕駛模擬訓(xùn)練的有力手段。隨著國(guó)內(nèi)外研究的深入，其應(yīng)用范圍不斷擴(kuò)大，今天的六自由度運(yùn)動(dòng)模擬器在汽車(chē)制造領(lǐng)域、航空航天領(lǐng)域、船舶、機(jī)器人、工業(yè)及民用娛樂(lè)領(lǐng)域都有廣闊的應(yīng)用。
 本文對(duì)六自由度運(yùn)動(dòng)模擬器運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)進(jìn)行了分析。運(yùn)動(dòng)學(xué)主要針對(duì)機(jī)構(gòu)位置分析，包括機(jī)構(gòu)位置反解分析和位置正解分析，臺(tái)體運(yùn)動(dòng)參數(shù)的確定和液壓缸速度及加速度的計(jì)算。本文應(yīng)用矩陣分析和齊次坐標(biāo)變換建立了六自由度并聯(lián)平臺(tái)的運(yùn)動(dòng)學(xué)模型，對(duì)平臺(tái)運(yùn)動(dòng)的速度和加速度進(jìn)行了分析;通過(guò)分析液壓驅(qū)動(dòng)六自由度運(yùn)動(dòng)平臺(tái)的運(yùn)動(dòng)學(xué),給出了系統(tǒng)各部件的速度、加速度之間的關(guān)系。利用雅克比矩陣將各部分慣量影響投影到平臺(tái)廣義速度方向,運(yùn)用凱恩方程建立了考慮支鏈液壓缸慣性影響的系統(tǒng)完整的動(dòng)力學(xué)模型。由動(dòng)力學(xué)模型計(jì)算出平臺(tái)在以不同的姿態(tài)運(yùn)動(dòng)時(shí)各支鏈的受力情況,為并聯(lián)運(yùn)動(dòng)平臺(tái)的設(shè)計(jì)優(yōu)化以及動(dòng)態(tài)分析提供了基礎(chǔ)。最后運(yùn)用MATLAB軟件對(duì)六自由度平臺(tái)進(jìn)行了仿真分析。

關(guān)鍵詞：并聯(lián) 六自由度平臺(tái) 動(dòng)力學(xué)

Dynamics Analysis of a Six-degree-of-freedom Parallel Platform

Abstract
 The 6-DOF motion simulator is a test equipment which can be used to study dynamic performance and reliability of airplane, vessel, space flight, vehicle and so on. It also can be used to train pilot, sailor and vehicle driver. With the deep research of scientists, its application field becomes more and more wide. Now the range of its application is expanding continuously with extensive prospect on the fiel dof auto motive industry, aviation, space flight, shipping, vehicle, robot, machine-tool industry and amusement.
 This paper studies the kinematics analysis and dynamics analysis of the 6-DOF motion simulator. Kinematics analysis mainly studies the position analysis, and how to calculate the pose of the platform, and how to calculate the velocity and acceleration of the actuator. It applies the mathematic model of the 6-DOF parallel platform with matrix analysis and homogeneous transformation，and analyzes the velocity and the acceleration of the Platform; The relationship between velocity and acceleration of various components of an electro-hydrau-lically driven parallel platform is presented through analyzing its kinematics. Through projecting the inertia of the components to the velocity direction of the platform by using Jacobian matrices, the complete dy- namics model with actuators inertia considered is derived from Kane′s equation. The dynamic model can compute the force acted on the actuators and caused by the motion of the platform, which provides the ba-sis for design optimization and dynamic analysis of the parallel platform. Finally, the use of MATLAB software platform of six degrees of freedom simulation analysis.
 
Keywords：Parallel；Six-degree Platform；Dynamics；