Kinematics Analysis of Stewart Platform Based on ADAMS
Aiming at the problem that the theoretical calculation of the kinematic and dynamic parameters of the legs was too complicated in the design of the Stewart 6-DOF parallel platform,an analysis method combining the inverse solution and the forward solution of the Stewart platform based on ADAMS was proposed.Firstly,the displacement parameters of the leg were obtained by ADAMS inverse solution;then,the displacement parameters were converted into driving functions and added to each leg;finally,the remaining motion parameters of the leg were solved by ADAMS positive solution.The theoretical calculation and ADAMS analysis data were compared through examples.The results showed that the difference between the displacement value of the leg and the theoretical value is less than 0.01 mm,and the error between the maximum velocity and the maximum acceleration of the leg and the theoretical value is less than 2%,which verified the rationality and scientificity of the analysis method.This analysis method provids an efficient solution for the practical problem of solving the leg parameters of the 6-DOF platform with the known moving platform driving function.
Stewart platformADAMSkinematic analysisreverse solutionpositive solution
国家科技期刊平台
NSTL
万方数据
维普
