大型液压Stewart平台动态耦合特性

耦合现象在液压Stewart平台中普遍存在，以大型液压Stewart平台为目标，采用AMESim和SimMechanics对液压部分及平台机构部分分别建模。通过软件接口建立联合仿真体系对平台动态耦合进行定量分析，数值模拟6缸动态特性在一致和有差异的情况下动态耦合的强度和规律，该仿真体系针对液压与并联机构进行分布式建模，改善了建模精度。建立大型液压Stewart平台通用联合仿真模型，为Stewart平台的耦合研究提供了有效的理论研究手段，能够针对平台进行前期耦合预测，保证设计方案的准确性与可靠性。

COUPLING CHARACTERISTICS OF LARGE HYDRAULIC STEWART PLATFORM

The coupling characteristics are always taken into consideration when designing the hydraulic Stewart platform. The large hydraulic Stewart platform is studied on the coupling dynamics.A combined simulation method is developed in which the hydraulic system model is built in software AMESim, and the parallel mechanism system model is built in software SimMechanics.With the simulation system the dynamic coupling characteristics are studied under alternative situations depended on the dynamic consistency of the six hydraulic cylinders.The simulation system which is universal in different huge hydraulic Stewart platforms is of high accuracy,and provides a theoretical research technique of the coupling study for the Stewart platform.In addition,the simulation system can pre-estimate the coupling state,therefore it ensures the accuracy and the reliability of the design scheme.