轻工机械2024，Vol.42Issue(2)：1-7,22,8.DOI:10.3969/j.issn.1005-2895.2024.02.001
基于ADAMS的Stewart平台运动学分析
Kinematics Analysis of Stewart Platform Based on ADAMS
葛正浩 1高创 1张晓亮 1胡锋利 2唐志雄1
作者信息
- 1. 陕西科技大学 机电工程学院,陕西 西安 710021
- 2. 陕西双玉科技有限公司,陕西 咸阳 712000
- 折叠
摘要
Abstract
Aiming at the problem that the theoretical calculation of the kinematic and dynamic parameters of the legs was too complicated in the design of the Stewart 6-DOF parallel platform,an analysis method combining the inverse solution and the forward solution of the Stewart platform based on ADAMS was proposed.Firstly,the displacement parameters of the leg were obtained by ADAMS inverse solution;then,the displacement parameters were converted into driving functions and added to each leg;finally,the remaining motion parameters of the leg were solved by ADAMS positive solution.The theoretical calculation and ADAMS analysis data were compared through examples.The results showed that the difference between the displacement value of the leg and the theoretical value is less than 0.01 mm,and the error between the maximum velocity and the maximum acceleration of the leg and the theoretical value is less than 2%,which verified the rationality and scientificity of the analysis method.This analysis method provids an efficient solution for the practical problem of solving the leg parameters of the 6-DOF platform with the known moving platform driving function.关键词
Stewart平台/ADAMS软件/运动学分析/反解/正解Key words
Stewart platform/ADAMS/kinematic analysis/reverse solution/positive solution分类
机械制造引用本文复制引用
葛正浩,高创,张晓亮,胡锋利,唐志雄..基于ADAMS的Stewart平台运动学分析[J].轻工机械,2024,42(2):1-7,22,8.
