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多自由度电液混合运动模拟器动力学分析

DOI: 10.3969/j.issn.1006-7043.201012054

Keywords: 电液混合, 运动模拟器, 多自由度, 动力学方程

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Abstract:

为了研究运动模拟器,采用牛顿和罗伯逊?参?滕伯格方法建立了多自由度电液混合运动模拟器动力学方程,建模中把运动模拟器结构中的闭链结构看做自由铰约束,使建模过程得以简化,解决了罗伯逊?参?滕伯格方法对移动铰、特别是球铰不易应用的难题.该动力学方程与拉格朗日方法相比,具有计算简便、省时的特点,便于运动模拟器的实际动力控制.动力仿真结果与模拟器实际运动相符合,证明动力学方程建模的正确性.

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