【摘要】 建立了某型电动Stewart仿真平台关节空间动力学模型,通过实验辨识出了平台难于测量的惯性参数。首先给出平台的拉格朗日法和牛顿-欧拉法两种建模结果的相互验证方法,然后推导出平台关节空间内动力学模型,最后进行平台单支路闭环等速运动以及单支路开环正弦运动的实验,利用遗传算法辨识出平台的惯性参数。两种动力学建模结果的相互验证保证了平台刚体动力学模型正确性,所设计实验操作简单,能够方便地辨识出未知的参数。为电动Stewart平台建模与惯性参数辨识提供了一种新的方法。更多还原

【Abstract】 An electrical Stewart platform simulator’s link-space dynamic model was constructed and the inertia parameters were estimated through experiments. Two rigid body dynamic models were got from Lagrange method and Newton-Euler method separately and validated each other. The whole link-space dynamic model of the electrical simulator was constructed. The inertia parameters were estimated by genetic algorithm from single strut moving experiments: constant velocity motion in closed-loop and sinusoid motion in open-loop. The validation between two rigid body dynamic models guarantees the model’s correctness and the designed experiments are easy to estimate manipulator’s inertia parameters off-line.更多还原