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为了对6-UPS并联平台进行动力学分析,基于拉格朗日动力学模型,建立了6-UPS并联平台完整动力学模型。考虑关节摩擦的影响,以“库伦-粘性”摩擦模型为基础,在建立机构关节摩擦模型的基础上,定量分析了机构驱动力受关节摩擦力的影响。为求解因考虑摩擦而建立的非线性动力学模型,本文给出了数值仿真的迭代计算方法。最后以江苏科技大学自制的6-UPS并联船舶运动模拟平台机构为例,求解了液压系统在动平台升沉运动、平移运动、偏航运动、翻滚运动中理想驱动力和含摩擦驱动力随时间的变化关系。结果表明:当机构处于低速运动状态时,关节摩擦力对动力学的影响很小,但驱动力大于原理想动力学情况下的0.005%;当机构处于高速运动状态时,关节摩擦力对动力学的影响会显著增加,但驱动力不会超过原理想动力学情况下的0.25%。本文结果为下一步控制系统的设计提供了理论依据。
In order to analyze the dynamics of 6-UPS parallel platform, a complete dynamic model of 6-UPS parallel platform was established based on Lagrangian dynamics model. Considering the influence of joint friction, based on the “Coulomb-viscous” friction model, the influence of the joint force on the driving force of the mechanism was quantitatively analyzed on the basis of establishing the joint friction model. In order to solve the nonlinear dynamic model established by considering the friction, an iterative calculation method of numerical simulation is given. Finally, taking the 6-UPS parallel ship motion simulation platform made by Jiangsu University of Science and Technology as an example, the ideal driving force and friction driving force of the hydraulic system in lifting motion, translational motion, yawing motion and rolling motion are solved. The relationship between the changes. The results show that when the mechanism is in the low speed state, the joint friction has little influence on the dynamics, but the driving force is greater than 0.005% under the ideal dynamic state. When the mechanism is in the state of high speed movement, The impact will be significantly increased, but the driving force will not exceed 0.25% of the original ideal kinetics. The results of this paper provide the theoretical basis for the design of the next control system.