六自由度地震模拟试验台运动轨迹规划

本文以六自由度地震模拟试验台为研究对象,构建了位姿反解模型。提出了一种六自由度地震模拟试验台运动轨迹规划方法,通过位姿反解模型推导出了六自由度地震模拟试验台与手动六自由度平台之间关节空间和工作空间的相似关系。利用相似性关系获得六自由度地震模拟试验台驱动缸的运动方程,实现对手动六自由度平台的运动过程再现。建立了六自由度地震模拟试验台与手动六自由度平台仿真模型,仿真实验结果验证了相似结构六自由度平台之间驱动缸和上平台的运动特性曲线关系。为六自由度地震模拟试验台的控制系统的设计提供参考。

Trajectory planning for 6-DOF earthquake simulation test bench

Taking the 6-DOF (6 degrees of freedom) earthquake simulation test bench as the research object,the position inverse solution model has been constructed.A trajectory planning method of 6-DOF earthquake simulation test bench has been put forward.The similarity relationship between joints space and work space among 6-DOF earthquake simulation test bench and manual 6-DOF platform has been derived through the position inverse solution model.The motion equation of driven cylinder for 6-DOF earthquake simulation test bench has been obtained by use of similarity method.The manual 6-DOF platform motion process has been realized again.The simulation models for 6-DOF earthquake simulation test bench and manual 6-DOF platform have been established.The relationship of motion characteristic curve for driven cylinder and the platform between the 6-DOF platforms with similar structure has been verified according to the simulation and experimental results.It provides reference for the design of control system for 6-DOF earthquake simulation test bench.