| Stewart平台位置反解研究 |
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| 引用本文： | 赵静一,张荣兵,孙龙,郭锐,李文雷. Stewart平台位置反解研究[J]. 液压与气动, 2017, 0(12): 40-47. DOI: 10.11832/j.issn.1000-4858.2017.12.007 |
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| 作者姓名： | 赵静一 张荣兵 孙龙 郭锐 李文雷 |
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| 作者单位： | 1. 燕山大学 河北省重型机械流体动力传输与控制重点实验室, 河北 秦皇岛 066004; 2. 燕山大学 先进锻压成形技术与科学教育部重点实验室, 河北 秦皇岛 066004; 3. 燕山大学 机械工程学院, 河北 秦皇岛 066004; 4. 秦皇岛燕大一华机电工程技术研究院有限公司, 河北 秦皇岛 066004 |
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| 基金项目： | 国家自然科学基金(51675461,11673040,51405424) |
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| 摘 要： | Stewart机构运动比较复杂,仅仅通过数学模型的方法,无法充分直观的分析机构在不同位姿下各条液压缸长度的变化情况。据此,提出了基于Simulink环境下对Stewart平台进行位置反解的建模与仿真方法。在通过建立Stewart平台位置反解数学模型的基础上,分析了Simulink中各模块的使用及参数设置方法,对位置反解的数学模型进行了建模,并对Stewart机构6个单自由度的液压缸运动进行了仿真。结果表明,通过仿真曲线直观地了解了六自由度摇摆台位姿变化时,6条液压缸杆长变化规律。
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| 收稿时间： | 2017-09-10 |
Position Inverse Solution of Stewart Platform |
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| ZHAO Jing-yi,ZHANG Rong-bing,SUN Long,GUO Rui,LI Wen-lei. Position Inverse Solution of Stewart Platform[J]. Chinese Hydraulics & Pneumatics, 2017, 0(12): 40-47. DOI: 10.11832/j.issn.1000-4858.2017.12.007 |
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| Authors: | ZHAO Jing-yi ZHANG Rong-bing SUN Long GUO Rui LI Wen-lei |
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| Affiliation: | 1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, Hebei 066004; 2. Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University, Qinhuangdao, Hebei 066004;; 3. College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004; 4. Qinhuangdao YSU-Yihua Electrical and Mechanical Engineering Technology Research Institute Co., Ltd., Qinhuangdao, Hebei 066004 |
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| Abstract: | The movement of the Stewart mechanism is relatively complex, so we can not fully intuitively analyze the hydraulic cylinder length variation of the mechanism at different positions only by the mathematical model . Therefore, aiming at this problem, we propose a modeling and simulation method of position inverse solution based on Simulink environment for the Stewart platform. On the basis of the mathematical model of inverse solution of the Stewart platform, the use of each module in Simulink and the methods of setting parameters are analyzed, the mathematical model of inverse solution is modeled and the 6-DOF Stewart platform is simulated. The result shows that through the simulation curve we can intuitively understand the change law of the Stewart mechanism at different positions. |
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