并联六自由度运动平台铰点工作空间的仿真实验

文章基于6-6结构六自由度并联机构铰点工作空间的概念,阐述了六自由度运动平台工作空间大小与结构尺寸参数评价关系。首次利用工作空间大小与尺寸参数的联接关系表达式,通过仿真实验验证了本研究室飞行模拟器用六自由度运动平台结构设计的合理性,使直接依据工作空间大小进行结构尺寸设计而不必进行大量工作空间反复核算成为可能。同时依据铰点工作空间构造出Stewart平台位置可达工作空间,为工作空间的分析提供了一种全新方法。此方法不仅可以为结构参数设计提供依据,还可为工程设计提供机构边界运动范围,是分析并联机构工作空间一种强有力的有效、实用的新方法。

Study on arithmetic imitating for vertex spaces on stewart platform

The relationship between the workspace and dimension of a hydraulic six degree of freedom parallel manipulator is analyzed according to the concept of vertex spaces on 6-6 stewart platform, in this paper. For the first time, through the relationship between the workspace and dimension of a six degree of freedom parallel manipulator, The six degree of freedom parallel manipulator in our laboratory is validated to be reaso- nable depending on arithmetic imitating. This method makes it possible that to design construction size directly through calculating the workspace without large quantity checking work of workspace. At the same time, the reachable position workspace is constructed through using the concept of vertex spaces. In conclusion, on the one hand, this method provides foundation for the design of machinery, and on the other hand, it can calculate the limit workspace of parallel manipulator. In the end, it is an available and practical method.