基于AMESim的液压并联机构建模及耦合特性仿真

针对液压六自由度并联机构，采用AMESim和Simulink分别对单缸液压系统及平台机构部分建模，建立了液压并联机构的通用仿真模型.在AMESim模型中单缸系统的等效负载为Simulink模型反馈的负载力而非等效质量.联合仿真模型详细考虑了液压系统，保证了系统的精度，为研究液压并联机构提供了便捷的理论分析手段.通过联合仿真模型研究了并联机构由于液压缸不一致带来的耦合特性.数值仿真结果表明，当液压缸性能不一致时会出现耦合现象，耦合度随着液压缸性能不一致程度的增大而增强.在并联机构设计时，必须保证液压缸性能的一致性.

Modeling of AMESim based hydraulic parallel mechanism and simulation of its coupling characteristics

A novel universal simulation model of hydraulic six-degree of freedom parallel mechanism was presented,in which the hydraulic actuator servo system was built in the AMESim,and the parallel mechanism part was built in the Simulink.In the AMESim model,the equivalent load of hydraulic actuator is from the Simulink model instead of equivalent mass.The combined simulation model takes the details of hydraulic system into consideration to ensure the accuracy,and provides a convenient research technique for hydraulic parallel mechanism.The coupling characteristic of the parallel mechanism was studied through analyzing the dynamic consistency of six actuators using the simulation model.The results show that coupling phenomena appear when the frequency responses of the six actuators were different,and the coupling becomes stronger when the difference among the actuators increases.Thus the dynamic consistency of all actuators must be ensured during the design of parallel mechanism.