【摘要】 由于液压系统的特点以及Stewart平台的结构特性,使液压驱动Stewart平台得到越来越广泛的应用。针对液压驱动Stewart平台,结合其在空间对接中的应用,构建了整个系统的控制和仿真模型,根据空间对接模拟初始阶段需满足的接触初始条件,对Stewart平台进行了轨迹规划。仿真结果验证了这种轨迹规划的有效性。更多还原

【Abstract】 Stewart platform driven by hydraulic has a more and more application because of characteristics of hydraulic system and structure capability of Stewart platform.According to Stewart platform,combined with its application in space docking,the whole control and simulation model of system was built,and trajectory of Stewart platform was planned according to the needed initial condition in the beginning of docking simulation.Trajectory plan was verified to be effective by simulation results.更多还原