六自由度运动平台的振动分析与测试.docVIP

六自由度运动平台的振动分析与测试3 V I BRAT I O N ANALY S I S AND TEST O F A S I X D EGREES O F FREEDOM PLATFO R M 赵　强331　李洪人2 (1.东北林业大学交通运输学院,哈尔滨150040(2.哈尔滨工业大学机电学院,哈尔滨150001 ZHAO Q iang1　L I Ho ngR en2 (1.School of Traffic Transportation Engineering,N ortheast Forestry U niversity,Harbin150040,China (2.School of M echatronic Engineering,Ha rbin Institute of Technology,Harbin150001,China 摘要　刚度和固有频率是影响六自由度运动平台性能的重要因素,文中采用线性化方法推导预载状态下六自由度运动平台的刚度矩阵,建立平台的自由振动方程,并求出其固有频率。利用脉冲激励实验对六自由度平台的频率进行测试,实验结果和理论分析的结果较为接近,验证文中理论和实验方法的有效性。文中方法可用于六自由度平台的刚度设计和频率分析。 关键词　Stewart平台　刚度　振动　频率　测试 中图分类号　TH113.1 Abstract　Stiffness and natural frequency are t w o i m portant fact ors t o affect the perf or mance of a six2degree2of2freedom mo2 ti on p latf or m.By means of a linearized method,the stiffness matrix is derived for a p rel oaded p latfor m.The free vibrati on equa2 ti on is further established,and by s olving its characteristic f or mula,the natural frequencies are obtained for each degree of free2 dom in the p latfor m.Some pulse excitati on experi m ents are carried out t o test the natural frequencies on a real six2degree2of2free2 dom p latfor m.The frequencies measured by experi m ents show better agree ment with the theoretical computati on results,which il2 lustrates the feasibility and effectiveness of the p r oposed method.It can be used f or the stiffness design and frequency analysis of six2degree2of2freedom moti on p latf or m s. Key words　Stewart pl a tform;Sti ffness;V i bra ti on;Frequency;Test Corresponding author:ZHAO Q iang,E2m ail:zhao2q@tsinghua.edu.cn,Tel:+862451282191860 Manuscri p t receivein revised for 1　引言 刚度是影响六自由度平台性能的重要因素,同时也是评价其性能的一项重要指标。Gosselin[1]研究了无预载情况下Ste wart平台的刚度映射问题。El2Khasa wneh和Ferreira[2]从工程应用的角度提出总刚度和一维刚度的概念,并推导了具体公式。Griffis 和Duffy[3]推导了六根弹簧并联的Ste wart平台的非对称刚度矩阵,Ciblak和L i pkin[4]进一步扩展并推导了任意数量弹簧并联的刚度计算公式。Huang和Schi m mels[5]给出无预载情况下简单弹簧并联的空间刚度的计算公式。Selig和D ing[6]研究了无预载情况下的刚度矩阵,把液压缸看作是弹簧阻尼系统,推导出阻尼矩阵和刚度矩阵之间成正比关系,建立系统振动的线性方程,并进行求解。Svinin[