【摘要】 利用凯恩方程建立了运动模拟器的多刚体动力学模型,导出了系统的广义质量矩阵,然后把运动模拟器的液压缸等效成液压弹簧,推导了系统的广义刚度矩阵,进而建立了运动模拟器的固有频率方程,并对固有频率方程的准确性进行了验证。最后,利用该方程分析了对接机构综合试验台运动模拟器的固有频率特性,为运动模拟器的设计和调试提供了依据。更多还原

【Abstract】 The multi-rigid body dynamic model of the hydraulic stewart platform was presented through Kane formulation,and the general mass matrix of the platform was proposed,and then the general stiff matrix of the system was obtained by regarding hydraulic actuator as hydraulic spring.The natural frequency formulation of the platform was derived and this formulation was proved to be validated.The natural frequency formulation was applied to compute and analyze the stewart platform in spacecraft docking mechanism test system,providing a basis for the synthesis and debugging of the platform’s controller.更多还原