机械与电子2016，Vol.34Issue(3)：75-80,6.
基于 Matlab/SimMechanics 的六自由度并联运动平台建模与分析
Modeling and Analysis of Six DOF Parallel Platform Based on Matlab/SimMechanics
李沛 1杨小强 1李焕良 1韩金华 1潘军军1
作者信息
- 1. 解放军理工大学野战工程学院，江苏 南京 210007
- 折叠
摘要
Abstract
In order to study the kinematics characteristics of the six DOF parallel platform,the for-ward kinematics and inverse kinematics of six DOF parallel platform are analyzed.And a six DOF paral-lel simulation platform with the using of SimMechanics tool box under the Matlab environment is de-signed.It consists of leg trajectory generator,PID controller,executive body and output display.The re-sults of SimMechanics model simulation show that the orbit track of the simulation platform is accurate, which verifies the validity of the simulation platform.It lays a theoretical foundation for the design and ap-plication development of six DOF parallel platform and provides a reference for analysis of other parallel platforms.关键词
六自由度并联运动平台/运动学分析/建模/仿真平台Key words
six DOF parallel platform/kinematics analysis/modeling/simulation platform分类
信息技术与安全科学引用本文复制引用
李沛,杨小强,李焕良,韩金华,潘军军..基于 Matlab/SimMechanics 的六自由度并联运动平台建模与分析[J].机械与电子,2016,34(3):75-80,6.
