六维并联地震模拟器机构的动力学分析与仿真
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摘要
基于Newton-Euler法对三向六自由度(6-PSS)并联地震模拟器进行了动力学分析,分析了地震模拟器运动平台与各构件运动参量之间的关系;考虑重力与惯性力的影响,推导了并联机构杆件和运动平台动力学方程,并消去各构件之间的内力,建立了机构整体动力学方程;基于动力学模型进行动平台各驱动力的数值仿真.结果表明,6-PSS并联机构适用于地震模拟器,所建立的动力学模型能够作为其精确控制的数学模型.
Based on Newton-Euler method,the research on the dynamics of a 6-PSS parallel earthquake simulator was presented.The relations of motion parameters between the platform and other poles were deduced.Newton-Euler equations were educed for every poles and the platform respectively with thinking about the effect of the gravity and inertia force of all components.After all of forces between poles and between platform and other poles being removed,equations for the inverse dynamics of the holistic parallel mechanism were established.According to the dynamic model,a numerical simulation was presented and the driving force emulational curves for different modes of vibration were obtained.The results show that not only the dynamic model is valid but also this earthquake simulator is suited to simulate seism.The dynamic model also has a potential application of accurate control to the parallel earthquake simulator.
Based on Newton-Euler method,the research on the dynamics of a 6-PSS parallel earthquake simulator was presented.The relations of motion parameters between the platform and other poles were deduced.Newton-Euler equations were educed for every poles and the platform respectively with thinking about the effect of the gravity and inertia force of all components.After all of forces between poles and between platform and other poles being removed,equations for the inverse dynamics of the holistic parallel mechanism were established.According to the dynamic model,a numerical simulation was presented and the driving force emulational curves for different modes of vibration were obtained.The results show that not only the dynamic model is valid but also this earthquake simulator is suited to simulate seism.The dynamic model also has a potential application of accurate control to the parallel earthquake simulator.
引文
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[3]Han J W,Li Y,Hu B.Three dimensional large scaleearthquake simulator with six degrees of freedom[J].Acta Seismologica Sinica,1998,11(3):387-390.
[4]Ottaviano E,Ceccarelli M.Application of a 3-DOFparallel manipulator for earthquake simulations[J].IEEE/ASME Transactions on Mechatronics,2006,11(2):241-246.
[5]Nobuyuki O,Koichi K,Masayoshi S.Introductionof E-defense project with recent progress(a 3-D full-scale earthquake testing facility under construction)[C]//2004 ASME/JSME Pressure Vessels and PipingConference.San Diego,CA,United States:Ameri-can Society of Mechanical Engineers,2004:181-186.
[6]Ceccarelli M,Ottaviano E,Galvagno M.A 3-DOFparallel manipulator as earthquake motion simulator[C]//Seventh International Conference on Control,Automation,Robotics and Vision(ICARCV’OZ).Singapore:Nanyang Technological University,2002:944-949.
[7]Nobuyuki O,Keiichi O,Tsuneo K,et al.Construc-tion of a three-dimensional,large-scale shaking tableand development of core technology[J].Philosophi-cal Transactions of the Royal Society A:Mathematical,Physical and Engineering Sciences,2001,359:1725-1751.
[8]Dasgupta B,Choudhury P.A general strategy basedon the Newton-Euler approach for the dynamic for-mulation of parallel manipulators[J].Mechanism andMachine Theory,1999,34(6):801-824.
[9]Dasgupta B,Mruthyunjaya T.Closed-form dynamicequations of the general Stewart platform through theNewton-Euler approach[J].Mechanism and MachineTheory,1998,33(7):993-1012.
[10]Liu K,Fitzgerald M,Dawson D M,et al.Modelingand control of a Stewart platform manipulator[J].ASME DSC,Control of Systems with Inexact DynamicModels,1991,33:83-89.
[11]刘敏杰,田涌涛,李从心.并联机器人动力学的子结构Kane方法[J].上海交通大学学报,2001,35(7):1032-1035.LIU Min-jie,TIAN Yong-tao,LI Cong-xin.Dynam-ics of parallel manipulator using sub-structure Kanemethod[J].Journal of Shanghai Jiaotong University,2001,35(7):1032-1035.
[12]李兵,王知行,李建生.基于凯恩方程的新型并联机床动力学研究[J].机械科学与技术,1999,18(1):41-43.LI Bing,WANG Zhi-xing,LI Jian-sheng.Study ofnew type parallel machine tool dynamics based onKane equation[J].Mechanical Science and Technolo-gy,1999,18(1):41-43.
[13]张国伟,宋伟刚.并联机器人动力学问题的Kane方法[J].系统仿真学报,2004,16(7):1386-1391.ZHANG Guo-wei,SONG Wei-gang.A Kane formu-lation for the inverse dynamic of Stewart platformmanipulator[J].Acta Simulata Systematica Sinica,2004,16(7):1386-1391.
[14]孔令富,张世辉,肖文辉,等.基于牛顿-欧拉方法的6-PUS并联机构刚体动力学模型[J].机器人,2004,26(5):395-399.KONG Ling-fu,ZHANG Shi-hui,XIAO Wen-hui,et al.Rigid body dynamics model of the 6-PUS paral-lel mechanism based on Newton-Euler method[J].Robot,2004,26(5):395-399.
[15]Codourey A.Dynamic modeling of parallel robots forcomputed-torque control implementation[J].TheInternational Journal of Robotics Research,1998,17(12):13-25.
[16]李为民,高峰.新型并联冗余驱动地震模拟台[J].机械设计,2004,21(3):22-24.LI Wei-min,GAO Feng.A new kind of parallelearthquake simulation platform with redundance actu-ation[J].Journal of Machine Design,2004,21(3):22-24.
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