【作者】 徐鹏； 王代华；

【Author】 Xu Peng Wang Daihua (Key Laboratory of Opto-electronic Technology and Systems of MOE, Chongqing University,Chongqing, 400044, China)

【机构】 重庆大学光电技术及系统教育部重点实验室；

【摘要】 以经典的Newton-Euler法建立的六自由度并联机构6-UPS(universal-prismatic-spherical)Stewart平台的动力学模型为基础,详细介绍了使用仿真工具Simulink按照并联设计思想设计的Stewart平台动力学并行仿真方案,并给出了仿真结果。经初步分析表明仿真结果与实际情况的运动状态是吻合的。更多还原

【Abstract】 Based on the dynamic model of an 6-UPS(universal-prismatic-spherical) Stewart platform established using Newton-Euler approach, the simulating scheme of the 6-UPS Stewart platform’s dynamics in Simulink is proposed and developed according to the parallel design idea. Also the simulation results are presented and analyzed, which shows that the simulation results are consistent with the practical motion situation of the 6-UPS Stewart platform.更多还原