针对对称结构的六自由度摇摆台的微变动力学位置正解算法

分析了六自由度运动体位置解算问题,提出了一种基于微变动力的新型位置正解算法。还分析了该算法的实际物理意义,进行了数学推导,研究了程序实现具体流程。该方法通过运动体内部动力学机理计算系统实际位置参数,优点是运算结果稳定,速度满足控制系统要求,根据初值可以始终跟踪运动体实际的物理姿态。通过与激光陀螺位置传感器测量的结果比较,研究了该正解算法的误差并研究了计算速度。该正解算法可作摇摆台控制系统的反馈计算环节,用于提高摇摆台相应的动态性能。

Study of the forward displacement for stewart platform with 6-DOF-parallel robot based on differential analysis

After a discussion of the displacement of the general Stewart platform in the beginning,a new method based on dynamics in differential changes to solve the forward displacement problem of Stewart platform is proposed.The paper presents the mathematical process of the new solution and particularizes the corresponding physical meaning.This method calculates the position parameters according to the interior dynamic mechanism of Stewart platform.The advantage of this method is that the solution provides a reliable solution of the problem at a control-oriented precision while it traces the realistic stance of the system consistent with initiations permanently. The contrast experiment with results from simulators and data measured by a laser-gyroscope illustrates the precision.The new forward displacement solution is capable of serving as the feedback approaches for the Stewart servo system to improve its dynamic performance.