【摘要】 运动范围大、精度高的并联运动平台是对接机构综合试验台的重要子系统,由于该并联运动平台的液压缸的质量较大而负载质量较小,因此在进行并联运动平台的受力分析时必须建立起包含液压缸影响的多刚体动力学模型。本文先建立了并联运动平台的运动学方程,然后运用凯恩方程推导了并联运动平台的多刚体动力学模型,最后运用该模型对并联运动平台的受力进行了仿真计算,计算结果表明液压缸的质量和惯量对并联运动平台受力的影响很大、不允忽略,所得结果可作为对接机构综合试验台并联运动平台优化设计的依据。更多还原

【Abstract】 The parallel platform is the most important subsystem of the Docking Dynamics Simulation System. As the load of the parallel platform is lighter than the hydraulic cylinder,we should take hydraulic cylinder into count when building the dynamic model of the parallel platform. In this paper, the relationship between velocity and acceleration of various components of parallel platform is presented through analyzing its kinematics, and the muti-body dynamic model is derived from Kane’s equation. The model is applied to computing and analyzing the drive force of the parallel platform.更多还原