Inertial Parameter Identification Method of Six-Degree-of-Freedom Parallel Platform
Inertial parameter identification is very important for dynamic control of multi-degree-of-freedom parallel mecha-nism,but traditional identification methods have problems such as complicated operation and poor accuracy.A method for inertial parameter identification of a six-degree-of-freedom parallel platform based on dynamic analysis is proposed.This method is based on the drive current of the servo motor,and uses the Kane method to analyze the dynamics of the parallel mechanism,establishes the transfer function between the current,torque and thrust,and builds the identification equation of the excitation force and the platform pose on this basis.Then the inertial parameters of the parallel platform can be solved.The simulation analysis results of pa-rameter identification of the six-degree-of-freedom parallel platform based on MATLAB and ADAMS show that the identification errors of mass and moment of inertia are less than 2%and 7%,respectively.Compared with the disintegration measurement meth-od and the CADmethod,this method has a faster identification speed and a higher identification accuracy,which lays the founda-tion for the dynamic control of the parallel platform.
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