【摘要】 基于达朗伯原理和等效力法 ,建立了处于实际工作状态时的Stewart平台的动力学模型 ,重点分析了 Stewart平台中各驱动分支的运动学、动力学特性。并对 Stewart平台在其动力学分析和设计中 ,能否忽略各分支的惯性影响进行了分析。仿真结果表明该方法易于求解 ,适用于需考虑各分支惯量影响的 Stewart运动平台。更多还原

【Abstract】 In this paper, a dynamic model for Stewart platform used to practical engineering is set up based on d’Alembert Principle and reduction method, and driving leg’s kinematics and dynamics characteristics are emphatically studied as well. Additionally, analysis is made to determine whether the inertial effect of legs is negligible in the design of dynamics for Stewart platform. Simulation results show the model is easily solved, and the theory is distinct and easily used to practical engineering, especially used to the Stewart platform involving inertial effect of legs.更多还原