Modal modeling method of kinematic system with spatial six degrees of freedom

A technology of motion system and modeling method, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as structural mode leakage, inability to optimize design, and high performance

Inactive Publication Date: 2011-03-02
HARBIN INST OF TECH
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Problems solved by technology

Due to the special environmental requirements for docking, the motion system must have a large working space (heave up to 2.5m), an ultra-long outrigger motion stroke (1.850m), a high system bandwidth (10Hz) and a high dynamic tracking accuracy (1mm /0.2deg) and other characteristics, the system modeling based on

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  • Modal modeling method of kinematic system with spatial six degrees of freedom
  • Modal modeling method of kinematic system with spatial six degrees of freedom
  • Modal modeling method of kinematic system with spatial six degrees of freedom

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Embodiment 1

[0044] Embodiment 1: A modal modeling method for a space six-degree-of-freedom motion system of the present invention, the steps are as follows: firstly, the complex space six-degree-of-freedom parallel motion system is discretized into several substructures, and the substructure Riccati transfer matrix method is used to calculate its front The low-order modal characteristics of the substructure are obtained, and its modal matrix is ​​constructed, and then the physical coordinates are converted into modal coordinates by modal coordinate transformation, and the second-order differential equations of the modal motion of each substructure are established, and then Use the force balance conditions and coordination conditions between substructures to remove redundant degrees of freedom, and carry out modal synthesis on each substructure, so as to establish the overall modal motion equation of the space six-degree-of-freedom parallel kinematic system, and obtain a space-connected six-...

Embodiment 2

[0080] Example 2: Combining figure 1 , figure 1 It is a composition diagram of a super-large parallel kinematic system for space docking. In the figure: (1): docking platform of the kinematic system of the docking mechanism, (2): driving outriggers.

[0081] The super-large motion system of the space docking mechanism is discretely divided into a motion platform with load and 6 super-long outriggers. When performing modal modeling, the physical body coordinates of the kinematic system of the space docking mechanism are established at the combined center of mass of the platform and the load, and the system coincides with the inertial system (earth coordinate system) at the initial position. According to the geometric principle, it can be calculated that the upper hinge point of the kinematic system is in the lower coordinate matrix A of the system and the lower hinge point is in the lower coordinate matrix B of the inertial system. When the kinematic system of the space dockin...

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Abstract

The invention provides a modal modeling method of a kinematic system with spatial six degrees of freedom, which comprises the following steps: scattering a parallel kinematic system with complex spatial six degrees of freedom into a plurality of substructures; computing the modalities of the previous orders of the substructures by adopting a substructure transfer matrix method to acquire low-order modality characteristics of the substructures; constructing a modal matrix; converting physical coordinates into modal coordinates by modal coordinate conversion; establishing a modal kinematic second order differential equation for each substructure; removing the redundant degree of freedom; carrying out modal synthesis on each substructure, thereby establishing an integral modal kinematic equation of the parallel kinematic system with spatial six degrees of freedom to acquire a modal model of the parallel kinematic system with spatial butted six degrees of freedom; and finally, converting the modal model into physical coordinates through coordinate conversion to acquire a physical spatial dynamic equation. The modal modeling method of the kinematic system, which is provided by the invention, has overlarge working space, overlong kinematic routes of supporting legs and high bandwidth and accuracy requirements of the system, and overcomes the limitation of multi-rigid body modeling of a spatial butted overlarge kinematic system.

Description

(1) Technical field [0001] The invention relates to mechanical, hydraulic and space technologies, in particular to a modal modeling method for a space six-degree-of-freedom motion system. (2) Background technology [0002] Due to its remarkable advantages such as high precision, high rigidity, strong bearing capacity and fast response, the space six-degree-of-freedom parallel kinematic system has attracted extensive theoretical research and practical engineering applications, such as multi-degree-of-freedom space motion simulation, space docking, parallel Machine tools, robot manipulators, etc. At present, although a few scholars have analyzed and discussed the dynamic modeling of planar mechanisms with elastic outriggers. However, the dynamic modeling ideas of space 6-DOF parallel mechanism still focus on multi-rigid body dynamic modeling, such as Kane, Lagrange, Newton-Euler and the principle of virtual work. With the improvement of the working space and system bandwidth...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 韩俊伟杨炽夫黄其涛张辉郑淑涛
Owner HARBIN INST OF TECH
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