6-HUS并联运动平台动力学建模与仿真分析

鉴于串联机构难以实现复杂的空间曲面轨迹运动,提出了一种应用在沿空间曲线及曲面进行作业的6-HUS并联运动平台。对6-HUS并联运动平台进行动力学分析,并采用拉格朗日法建立其动力学模型。结合给定的运动算例,通过Matlab软件编程对所建立的动力学模型进行求解,得到了各个驱动杆的驱动力变化曲线。再采用Adams软件对6-HUS并联运动平台虚拟样机进行动力学仿真,虚拟仿真得到的驱动力曲线与数值仿真结果基本一致,证明在机构模型进行适当简化的基础上,采用拉格朗日法建立的动力学模型是可行的,这为后续的动力学优化与控制系统设计提供了理论依据。 

Dynamic modeling and simulation analysis of 6-HUS parallel moving platform

As it is difficult for the serial mechanism to achieve the trajectory of complex spatial curved surface, we propose a 6-HUS parallel moving platform which can operate along the space curve and curved surface. The dynamics of the parallel moving platform was analyzed and the dynamic model was built by Lagrange method based on the foundation of kinetic analysis. Combined with the given examples, the driving force curve of each drive rod was obtained through solving dynamic model by Matlab. Then the dynamic simulation with virtual prototype of the parallel moving platform was carried out by Adams, and driving force curves by the virtual simulation were consistent with those by the numerical simulation. It was verified that the dynamic model built by Lagrange method was feasible with properly simplified model of the parallel moving platform, and this provides theoretical references for subsequent research of dynamic optimization and control system design.