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基于Lagrange法对3UPU/PU并联型3自由度稳定平台建立了完整的动力学模型。通过利用Matlab软件进行了数值仿真,得出了各伺服液压缸的力曲线,从而为后续的动力学分析及稳定平台的控制打下基础。
A complete dynamic model of 3UPU / PU parallel 3 DOF stabilized platform was established based on Lagrange method. Through the numerical simulation with Matlab software, the force curves of each servo cylinder are obtained, which lays the foundation for subsequent dynamic analysis and control of stable platform.