Stewart六自由度并联平台动力学模型振动分析

为提高Stewart六自由度并联减振平台控制精度，采用力学分析、旋转矩阵等方法构建了减振平台的速度特性和加速度特性等动力学分析模型和Adams虚拟样机模型，并对该平台在瞬态激励下上端载物平台的位移输出情况、速度情况和加速度情况以及固有特性进行了振动仿真分析.结果表明：1)上端平台的响应较小，最大的位移出现在0.7 s左右且能够很快地保持稳定；2)Stewart六自由度并联平台的一阶固有频率较小，低频特性较好，且在大范围的频率段范围内响应稳定.
In order to improve the control precision of the Stewart platform with 6-DOF, the methods of mechanical analysis and the rotation matrix were adopted to establish the vibration platform and the Adams virtual prototype model to obtain the velocity characteristics and the acceleration characteristics.Based on the model, vibration simulation was processed under the transient motivation, and the displacement, velocity and acceleration of the upper platform were tested.The results have shown that the response of the upper platform is small and the biggest displacement appears at 0.7s and the response can be stable quickly and the first-order natural frequency is small; the platform has good low frequency characteristics and has stable response in a wide range of frequencies.