摘要
分析了六自由度运动平台系统受到外力冲击干扰情况下的位姿响应.冲击产生位姿扰动的主要原因是运动平台各液压驱动系统的刚度和阻尼较低.通过求解各液压驱动系统的冲击响应,再利用铰点空间与平台任务空间之间的误差传递关系,求出了运动平台的位姿响应.最后,给出了任意位姿条件下冲击响应的计算和仿真结果.
Shock response of 6-DOF parallel motion platform driven by hydraulic actuators is analyzed. It is observed that the relatively low stiffness of the hydraulic systems constitutes the main cause for the pose error of motion platform under shock. Shock response of the hydraulic systems has first been obtained, and then with the error transformation between joint-space and task-space, shock response of the motion platform in any pose is obtained, with computation and simulation followed.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第10期1391-1393,共3页
Journal of Harbin Institute of Technology
