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从实际应用角度出发,针对用户有时要求控制点可变、缸筒端与活塞端质心不一定在铰点连线上的情况,建立了适用于控制点在任意点、缸筒端与活塞端质心在任意位置的通用运动学反解模型;然后运用虚功原理建立了通用的动力学反解方程,得到了结构紧凑的解,并根据实际情况对模型进行了简化,确定其应用范围.最后通过仿真对比,验证所推导公式的正确性.结果表明:仿真结果与其它文献报道的结果完全吻合,所建立的动力学反解方程正确,可用于Gough-Stewart平台的设计及基于模型的控制策略的研究.
From the practical application point of view, for the user sometimes require variable control point, the cylinder end and the piston end of the center of mass is not necessarily connected to the hinge point, the establishment of the control point at any point, the cylinder end and the piston end of the centroid A universal kinematic inverse model at arbitrary positions is established. Then a general dynamic inverse solution equation is established by using the principle of virtual work, a compact solution is obtained, and the model is simplified according to the actual situation to determine its application range. Finally, Simulation results show that the simulation results agree well with those reported in other literatures, and the established kinetic inverse equations are correct and can be used in the design of Gough-Stewart platform and the model-based control strategy the study.