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

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

Inactive Publication Date: 2012-10-31
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 the multi-rigid body modeling method will lead to the leakage of the structural mode of the space 6-DOF parallel kinematic system, which cannot provide more value for the optimal design of the structure and the design of a high-performance controller based on structural characteristics. Theoretical basis and method

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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 spatial six-degree-of-freedom motion system of the present invention, the steps are as follows: first, the complex spatial six-degree-of-freedom parallel motion system is discretized into several sub-structures, and the substructure Riccati transfer matrix method is used to calculate the former. Several order modes, obtain the low-order modal characteristics of the substructure, and construct its modal matrix, and then use the modal coordinate transformation to convert the physical coordinates into modal coordinates, establish the second-order differential equation of the modal motion of each substructure, and then use the modal coordinate transformation. Using the force balance conditions and coordination conditions between substructures to remove redundant degrees of freedom, the modal synthesis of each substructure is carried out to establish the overall modal motion equation of the spatial six-degree-of-freedom parallel moti...

Embodiment 2

[0080] Example 2: Combination figure 1 , figure 1 It is the composition diagram of the super-large parallel motion system of space docking, in the figure: (1): docking platform of docking mechanism motion system, (2): driving outrigger.

[0081] The super-large motion system of the space docking mechanism is discretely divided into a motion platform with a load and 6 extra-long outriggers. During modal modeling, the physical body coordinates of the motion system of the space docking mechanism are established at the comprehensive center of mass of the platform and the load, and the system coincides with the inertial system (geodetic 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 coordinate matrix A under the system, and the lower hinge point is in the coordinate matrix B under the inertial system. The length of the outrigger in the mid-position of the motion sys...

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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, and specifically relates to a modal modeling method for a space six-degree-of-freedom motion system. (2) Background technology [0002] The spatial six-degree-of-freedom parallel motion system has attracted a wide range of theoretical researches and practical engineering applications due to its remarkable advantages such as high precision, high stiffness, strong bearing capacity and fast response, such as multi-degree-of-freedom spatial motion simulation, spatial docking, parallel connection, etc. Machine tools, robot manipulators, etc. At present, although a few scholars have analyzed and discussed the dynamic modeling of planar mechanisms with elastic legs. However, the dynamic modeling ideas of spatial 6-DOF parallel mechanisms still focus on multi-rigid body dynamic modeling, such as Kane, Lagrange, Newton-Euler and virtual work principle. With the improvement of working s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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