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基于并联机构隔振平台动力学控制研究
Abstract
Idealdynamicperformanceandhighmotionaccuracyarethebasiccharacteristicsof
parallelmechanism,soitcanbeusedasagoodvibrationisolationconfiguration.The6-RUS
parallelmechanismisselectedasthemainmechanismofthevibrationisolationplatformin
thedesignscheme.Thedynamiccontrolofthevibrationisolationplatformisanalyzedand
discussedemphatically.Dynamicmodelisthefoundationofdynamiccontrol,andits
preconditionistoestablishacompletemotioncontrolsystem.Theresearchofdynamic
controlmainlyincludestwoaspects,namely,theestablishmentofdynamicmodel(6-RUS
parallelmechanism)andtheselectionofcontrolmethod.Dynamicanalysisisessentiallythe
theoreticalbasisoftheconstructionofdynamicmodel,andkinematicanalysisisthepremise
ofdynamicanalysis.Positionanalysis,velocityanalysisandaccelerationanalysisbelongto
thecategoryofkinematicanalysis,butitscoreliesinthepositionanalysis.Thecontrol
strategyisdividedintotwokinds,thatis,thecontrolstrategybasedonkinematics
characteristicsanddynamicsmodelofmechanism.
BasedonTwinCATsoftware,themotioncontrolsystemof6-RUSparallelmechanism
vibrationisolationplatformwasdeveloped.TwinCATHMIwasadopted,andtherequired
controlsweretakenfromthecontrollibrary.Real-timedatavariableswerelinkedbasedon
theinterfacedesigntocompletethehuman-computerinteractiondesign.
Thestructuralcharacteristicsofvibrationisolationplatformof6-RUSparallel
mechanismaredescribed.Meanwhile,Kutzbach-Grublerequation(modifiedversion)isused
toanalyzethedegreeoffreedomof6-RUSparallelmechanism.It
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