带柔性铰链的Stewart平台特征值的求解

Stewart六自由度平台在许多方面均有重要的应用，它的连接部件一般为球铰或万向铰，不可避免会产生间隙，这在微小位移的应用中是不允许的。因此，本文采用了无间隙的柔性铰链作为Stewart六自由度平台的连接部件，并推导了带柔性铰链的弹性支杆构成的Stewart平台的动力学方程并编程序求解了特征值问题，经ANSYS软件和实验验证，计算结果正确，表明理论能描述此平台的特性。

Solution to Eigenvalus of the Stewart Platform with Flexible Joints

The six degrees-of-freedom Stewart platform plays an important role in many applications.Its mechanism consists of a platform supported by adjustable legs through ball joints or universal joints which inevitably bring clearance which is not fit for tiny displacement applications.Therefore,the flexible joints with no clearance is introduced as the linker of the Stewart platform.In the paper,the dynamic equation of this kind of platform is formed,and the eigenvalues of the platform are resolved.The result is tested by the Ansys Software as well as the experiments.So it can be concluded that the dynamic function positively describes the character of this kind of structure.