大型液压Stewart平台耦合研究
Study of Coupling Characteristics of Large Hydraulic Stewart PlatformWei Wang, Xie Haibo, Xin Fu, Huayong YangState Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027(E-mail: xiaoaoww@163.com)Abstract—The coupling characteristics are always taken into consideration when designing the hydraulic Stewart platform. In this paper, the large hydraulic Stewart platform is studied on the coupling dynamics. A combined simulation method is developed in which the hydraulic system model is built in software AMESim, and the parallel mechanism system model is built in software SimMechanis. With the simulation system the dynamic coupling characteristics are studied under alternative situations depended on the dynamic consistency of the six hydraulic cylinders. This method which is universal in different huge hydraulic Stewart platforms is of high accuracy, it provides a theoretical research technique of the coupling study for the Stewart platform, in addition, this method can pre-estimate the coupling state, and therefore it ensures the accuracy and the reliability of the design scheme.Keywords—Stewart platform, coupling, AMESim, combined simulation大型液压Stewart平台耦合研究*王伟 谢海波 傅新 杨华勇浙江大学流体传动及控制国家重点实验室 杭州 310027摘 要 耦合现象在大型液压Stewart平台中普遍存在，本文以大型液压Stewart平台为目标，采用AMESim和SimMechanics对液压部分及平台机构部分分别建模，通过软件接口建立联合仿真体系对平台动态耦合进行定量分析，数值模拟了六缸动态特性在一致和有差异的情况下动态耦合的强度和规律，该仿真方法针对液压与并联机构进行分布式建模，解决了数学模型的精确性问题，建立了大型液压Stewart平台通用联合仿真模型，为Stewart平台的耦合研究提供了有效的理论研究手段，能够针对平台进行前期耦合预测，保证设计方案的准确性与可靠性。关键词 液压Stewart平台，耦合，AMESim，联合仿真
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