A high-speed heavy-load six-degree-of-freedom swing table stiffness analysis evaluation method and system

Abstract

The present disclosure provides a high-speed heavy-load six-degree-of-freedom swing table stiffness analysis and evaluation method and system, relating to the technical field of six-degree-of-freedom swing test bench, comprising obtaining the geometric model of the whole swing table, combining the geometric model with finite element flexible dynamics analysis and rigid body dynamics analysis, giving the properties of the component materials, dividing the grid of each transmission component of the geometric model, and setting the motion pair between the components; setting the analysis step, performing stiffness analysis and evaluation of the swing table until the analysis result is stable; respectively extracting the time history curve of each degree of freedom at the rotation center in the complete cycle after the finite element flexible model and the rigid body dynamics model reach the stable condition, subtracting and taking the absolute value, and the maximum value of the absolute value is the swing table deviation in the degree of freedom; compare the deviation with the design value to obtain the stiffness analysis and evaluation result of the swing table under the working condition load. The present disclosure improves the accuracy of stiffness analysis.

Description

Technical Field

[0001] This disclosure relates to the field of six-degree-of-freedom swing test bench technology, specifically to a method and system for stiffness analysis and evaluation of a high-speed, heavy-load six-degree-of-freedom swing table. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the development of my country's marine heavy equipment, the demand for the design and construction of six-degree-of-freedom (DOF) swing table test benches for marine swing condition design verification has surged. Parallel swing table designs are generally based on Stewart mechanisms, while also considering the characteristics of high-speed, heavy-load bench design, employing multi-branch PUS configurations to amplify the swing table's motion speed, such as the 6-PUS type swing table system with six branches. Generally, high-speed, heavy-load swing tables consist of a speed regulation transmission mechanism, connecting rods, a moving platform, and related revolute joints. Existing analytical methods analyze and evaluate the stiffness of traditional six-DOF swing tables; however, due to the presence of speed regulation mechanisms in high-speed, heavy-load swing tables, such mechanisms are typically implemented as scissor-fork mechanisms, such as... Figure 2 The overall equivalent stiffness of such movable mechanisms is usually related to their instantaneous pose and is not a constant value. This causes errors in the fixed equivalent stiffness value of replacing the speed adjustment structure in the analytical method. In addition, the analytical method only provides the overall offset of the component and lacks detailed results of the local structural deformation of the component, which makes the subsequent component structural optimization design lack key data support.

[0004] Another CAE-based structural stiffness analysis method, patent CN202210286055, introduces a CAE-based drive axle housing stiffness analysis system with linkages. Its problem lies in the fact that the basic structural unit of this method is the linkage, which cannot cover the more complex multi-component combined mechanisms in high-speed heavy-load sway tables, such as speed adjustment mechanisms. Furthermore, the stiffness analysis model established using Adams only provides spring reaction force input, and the patent does not mention its overall system stiffness evaluation method, making it of limited reference value for sway table stiffness assessment. Patent CN201410668069 introduces a CAE-based vehicle body stiffness analysis method, but its applicability is limited because the vehicle body itself is an indivisible whole, while the sway table is a multi-body combined structure. Patent CN202210474454 introduces a CAE-based stabilizer bar linkage stiffness analysis method, but its applicability is also limited because the linkage itself is an indivisible whole, while the sway table is a multi-body combined structure. None of the above methods are suitable for stiffness analysis and evaluation of multi-body composite structures. Summary of the Invention

[0005] To address the aforementioned issues, this disclosure proposes a method and system for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table. The method employs a finite element flexible body model for stiffness analysis of the high-speed, heavy-load, six-degree-of-freedom swing table structure, and a rigid body model for calculating reference values ​​of the rigid structure's motion displacement. By comparing the displacement differences between the two analysis models at the rotation center of the moving platform, the overall displacement deviation of the swing table is determined, resulting in a simple and intuitive overall stiffness evaluation conclusion for the swing table.

[0006] According to some embodiments, the present disclosure adopts the following technical solutions:

[0007] A method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table, comprising:

[0008] Obtain the overall geometric model of the swing table and preprocess the geometric model;

[0009] By combining the geometric model with finite element flexible body dynamics analysis, given the elastic modulus, Poisson's ratio and density of the component material, the various transmission components of the geometric model are meshed, and the kinematic pairs between the components are set; the analysis step is set to perform the stiffness analysis of the swing table until the analysis results are stable.

[0010] Then, the geometric model is combined with rigid body dynamics analysis to set the density of the component materials and the kinematic pairs between the components. An additional virtual mass point is set at the rotation center of the moving platform of the swing table, and the mass point is bound to the six degrees of freedom of the moving platform. An analysis step is set to evaluate the stiffness of the swing table until the evaluation results are stable.

[0011] The time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition are extracted respectively, and the difference is taken. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. The deviation is compared with the design value to obtain the stiffness analysis and evaluation results of the swing table under the working condition load.

[0012] According to some embodiments, the present disclosure adopts the following technical solutions:

[0013] A high-speed, heavy-load, six-degree-of-freedom swing table stiffness analysis and evaluation system includes:

[0014] The model initialization module is used to obtain the overall geometric model of the swing table and preprocess the geometric model.

[0015] The stiffness analysis module is used to combine the geometric model with finite element flexible body dynamics analysis. Given the elastic modulus, Poisson's ratio and density of the component material, it meshes each transmission component of the geometric model and sets the kinematic pairs between the components; it sets the analysis step to perform stiffness analysis of the swing table until the analysis results are stable.

[0016] The stiffness assessment module is used to combine the geometric model with rigid body dynamics analysis, set the density of the component materials and the kinematic pairs between the components, set an additional virtual mass point at the rotation center of the rocking table's moving platform, and set the mass point to be bound to the six degrees of freedom of the moving platform; set the analysis step to perform the stiffness assessment of the rocking table until the assessment results are stable.

[0017] The results acquisition module is used to extract the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition, subtract them and take the absolute value. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. The deviation is compared with the design value to obtain the stiffness analysis and evaluation results of the swing table under the working condition load.

[0018] According to some embodiments, the present disclosure adopts the following technical solutions:

[0019] A non-transitory computer-readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the aforementioned method for stiffness analysis and evaluation of a high-speed, heavy-duty, six-degree-of-freedom swing table.

[0020] According to some embodiments, the present disclosure adopts the following technical solutions:

[0021] An electronic device includes a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the aforementioned method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table.

[0022] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0023] This disclosure employs a finite element flexible body model's explicit dynamics module for structural stiffness analysis, and a rigid body model's explicit dynamics module for calculating reference values ​​of rigid structure motion displacement. By comparing the calculation results of the two methods, a intuitive conclusion on the stiffness assessment of the swing platform is obtained. This method can directly use a three-dimensional solid model for analysis and modeling, greatly improving the convenience of the analysis. Simultaneously, the finite element flexible body model does not simplify or equivalently represent complex combined mechanisms such as speed adjustment mechanisms, making the overall stiffness analysis calculation results of the swing platform more accurate. Finally, by using the displacement difference between the two analysis models at the rotation center of the moving platform, the overall displacement deviation of the swing platform is determined, achieving a concise and intuitive conclusion on the overall stiffness assessment of the swing platform. Furthermore, the finite element flexible body model analysis can also provide detailed deformation results of local components, which can be used as a reference for subsequent structural stiffness optimization. Attached Figure Description

[0024] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0025] Figure 1 This is a schematic diagram of the kinematic model of the applicable 6-PUS type swing table system according to an embodiment of the present disclosure;

[0026] Figure 2 This is a schematic diagram of one implementation of the speed regulating transmission mechanism described in the background art of this disclosure, namely, a scissor-type speed regulating transmission mechanism;

[0027] Figure 3 This is a schematic diagram of the stiffness analysis and evaluation process according to an embodiment of the present disclosure. Detailed implementation method:

[0028] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] Example 1

[0032] One embodiment of this disclosure provides a method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table, including:

[0033] Step 1: Obtain the overall geometric model of the swing table and preprocess the geometric model;

[0034] Step 2: Combine the geometric model with finite element flexible body dynamics analysis. Given the elastic modulus, Poisson's ratio and density of the component material, mesh each transmission component of the geometric model and set the kinematic pairs between the components; set the analysis step and perform stiffness analysis of the swing table until the analysis results are stable.

[0035] Step 3: Next, combine the geometric model with rigid body dynamics analysis, set the density of the component materials and the kinematic pairs between the components, set an additional virtual mass point at the rotation center of the moving platform of the swaying table, and set the mass point to be bound to the six degrees of freedom of the moving platform; set the analysis step to evaluate the stiffness of the swaying table until the evaluation results are stable.

[0036] Step 4: Extract the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition, subtract them and take the absolute value. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. Compare the deviation with the design value to obtain the stiffness analysis and evaluation results of the swing table under the load condition.

[0037] As one embodiment, this disclosure specifically implements the stiffness analysis and evaluation of the rocking table through the following technical solution, including:

[0038] Step 1: Obtain the overall geometric model of the swing table and preprocess the geometric model;

[0039] The preprocessing of the geometric model involves simplifying it. The overall geometric model of the swing platform is obtained and imported into SpaceClaim for geometric preprocessing. This includes: removing components unrelated to the transmission path (such as wall rails, bases, etc.), redundant parts, and local structural features from the obtained swing platform geometric model; retaining the scissor mechanism with six branches, the side rail slider base, the connecting rod, the moving platform base, and the moving platform itself. The local structural features include chamfers and stepped holes. Simultaneously, a rectangular frame with a mass of 6t is created to conservatively and equivalently simulate the tested equipment on the moving platform.

[0040] Step 2: Combine the geometric model with finite element flexible body dynamics analysis. Given the elastic modulus, Poisson's ratio and density of the component material, mesh each transmission component of the geometric model and set the kinematic pairs between the components; set the analysis step and perform stiffness analysis of the swing table until the analysis results are stable.

[0041] This disclosure pertains to a 6-PUS parallel swing table; see the diagram for the mechanism's motion principle. Figure 1 The speed adjustment mechanism is achieved through a scissor-fork mechanism (see reference). Figure 2 For detailed implementation steps, please refer to [link / reference]. Figure 3 . Figure 1In the diagram, A1-A6 are the moving platform bases, and B1-B6 are the side wall bases. C1-C6 are six sets of synchronous motors, serving as the power input source for the swaying table. A speed regulation mechanism amplifies the motion output from the synchronous motor sets C1-C6 and transmits it to the bases B1-B6, which are mounted on the side wall guide rails. Bases B1-B6 are only allowed to move vertically along the slide rails in the height direction. The motion from bases B1-B6 is then transmitted back to the moving platform bases A1-A6 via connecting rods and ball joints, thus achieving motion control of the swaying table. The CAE software used for stiffness analysis is ANSYS Workbench Rigid Dynamics, and the CAE software used for finite element flexible body analysis is ANSYS Workbench Explicit Dynamics.

[0042] In ANSYS Workbench, establish an Explicit Dynamics analysis workflow, import the model into the Mechanical module, and set the revolute joints between each scissor arm of the scissor lift mechanism, the revolute joints between the scissor lift mechanism and the connecting rod, and the revolute joints between the connecting rod and the moving platform base. The moving platform base is bound to the bottom surface of the moving platform. After setting, mesh the entire model.

[0043] In this embodiment, the rotation center of the moving platform is the geometric center of the plane formed by the center points of the three rotating joints of the moving platform base. A virtual node is created at this location and bound to the adjacent node of the moving platform. The material properties are set as follows: elastic modulus 200 GPa, Poisson's ratio 0.3, and density 8030 kg / m3.

[0044] Set up an analysis step to perform stiffness analysis on the sway table until the analysis results stabilize.

[0045] Specifically, the analysis step should consist of two steps: First, slowly move the swaying table to its initial pose and maintain it for a period of time until the analysis results stabilize; second, move the table for multiple cycles according to the operating load. An energy dissipation coefficient can be set during the analysis to help the results stabilize and converge.

[0046] The first step involves slowly moving the swaying platform to its initial position over 100 seconds and holding it for 10 seconds. The second step involves applying the six sets of displacement-time-history curve loads input from the motor to the six sets of scissor lift mechanism bases according to condition 1, performing three complete cycles totaling 12 seconds. An energy dissipation coefficient of 0.03 is set during the analysis.

[0047] Output the displacement (or rotation) time history curve of the rotation center in analysis step 2. If the curve shows that it reaches stability within the cycle during the analysis time (i.e., the time history curve of the previous cycle is basically consistent with the time history curve of the next cycle), then the analysis is complete; otherwise, return to the setting analysis step and increase the number of motion cycles in analysis step 2 until the result is stable.

[0048] Step 3: Next, combine the geometric model with rigid body dynamics analysis, set the density of the component materials and the kinematic pairs between the components, set an additional virtual mass point at the rotation center of the rocking table's moving platform, and set the mass point to be bound to the six degrees of freedom of the moving platform; set the analysis step to evaluate the stiffness of the rocking table until the evaluation results are stable.

[0049] Specifically, the simplified geometric model is imported into rigid body dynamics analysis software. A new Rigid Dynamics analysis process is created in ANSYS Workbench, and the geometric model is imported into a Mechanical module, such as ANSYS Workbench-Rigid Dynamics or ABAQUS explicit. The density of the component materials is set, and the kinematic pairs between components are configured. An additional virtual mass point is set at the center of rotation, and the mass point is bound to the six degrees of freedom of the moving platform.

[0050] The kinematic pairs between components are set up as follows: the revolute joint between the scissor mechanism and the connecting rod, and the revolute joint between the connecting rod and the moving platform base. The moving platform base is bound to the bottom surface of the moving platform. An additional virtual mass point is set at the center of rotation, and the mass point is bound to the six degrees of freedom of the moving platform. The material properties are set as in step 2.

[0051] Set up an analysis step, which should include two steps: Step 1: Slowly move the swaying table moving platform to the initial position over a period of 100 seconds and hold it for 10 seconds; Step 2: Apply the six sets of displacement time history curve loads input by the motor to the six sets of scissor mechanism bases according to working condition 1, and move for three complete cycles, totaling 12 seconds.

[0052] Output the displacement-time history curve of the rotation center in analysis step 2. If the curve shows that the analysis reaches stability within the first cycle, the analysis is complete; otherwise, return to the step of setting the analysis step in step 3, increase the motion cycle in analysis step 2, until the result is stable.

[0053] Step 4: Extract the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition, subtract them, and take the absolute value. The maximum absolute value is the deviation of the swing table in that degree of freedom. Compare this deviation with the design value to obtain the stiffness evaluation result of the swing table under the load condition.

[0054] The specific conditions to be met are as follows: extract the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition, subtract them and take the absolute value. The maximum value of the obtained deviation curve is |808.01-809.95|=1.94mm, which meets the requirement that the translational motion control accuracy error of this type of swing table is ≤10.00mm. That is, the overall stiffness evaluation of this type of swing table under this working condition is passed.

[0055] Using the rotation center of the moving platform as the reference position for extracting the overall structural deviation can avoid the combined influence of structural translation and rotation on the spatial rigid displacement of the moving platform nodes, making the evaluation results more accurate under multi-degree-of-freedom combined working conditions.

[0056] Finally, if the deviation does not meet the design requirements and the stiffness assessment fails, the deformation cloud diagrams of each component in the finite element analysis results can be used as a reference to optimize the initial structure in a targeted manner, and then steps 2 to 4 can be repeated.

[0057] Example 2

[0058] One embodiment of this disclosure provides a high-speed, heavy-load, six-degree-of-freedom swing table stiffness analysis and evaluation system, comprising:

[0059] The model initialization module is used to obtain the overall geometric model of the swing table and preprocess the geometric model.

[0060] The stiffness analysis module is used to combine the geometric model with finite element flexible body dynamics analysis. Given the elastic modulus, Poisson's ratio and density of the component material, it meshes each transmission component of the geometric model and sets the kinematic pairs between the components; it sets the analysis step to perform stiffness analysis of the swing table until the analysis results are stable.

[0061] The stiffness assessment module is used to combine the geometric model with rigid body dynamics analysis, set the density of the component materials and the kinematic pairs between the components, set an additional virtual mass point at the rotation center of the rocking table's moving platform, and set the mass point to be bound to the six degrees of freedom of the moving platform; set the analysis step to perform the stiffness assessment of the rocking table until the assessment results are stable.

[0062] The results acquisition module is used to extract the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition, subtract them and take the absolute value. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. The deviation is compared with the design value to obtain the stiffness analysis and evaluation results of the swing table under the working condition load.

[0063] Example 3

[0064] One embodiment of this disclosure provides a non-transitory computer-readable storage medium for storing computer instructions. When these computer instructions are executed by a processor, they implement the aforementioned method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table.

[0065] Example 4

[0066] One embodiment of this disclosure provides an electronic device, including a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the aforementioned method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table.

[0067] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0069] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table, characterized in that, include: Obtain the overall geometric model of the swing table and preprocess the geometric model; the swing table is a 6-PUS parallel swing table. The overall geometric model of the swing table includes a moving platform base, side wall bases, and six sets of synchronous motors, which serve as the power input source for the swing table. The motion output from the synchronous motor sets is amplified and transmitted to the side wall bases, which are mounted on the guide rails on the side walls, through a speed adjustment mechanism. The speed adjustment mechanism is implemented through a scissor mechanism, and the side wall bases are only allowed to move up and down on the slide rails in the height direction. The side wall bases then transmit the motion to the moving platform base through connecting rods and ball joints, thus realizing the motion control of the swing table. By combining the geometric model with finite element flexible body dynamics analysis, given the elastic modulus, Poisson's ratio and density of the component material, the various transmission components of the geometric model are meshed, and the kinematic pairs between the components are set. The revolute pairs between each scissor arm of the scissor mechanism, the revolute pairs between the scissor mechanism and the connecting rod, and the revolute pairs between the connecting rod and the moving platform base are set. The moving platform base is bound to the bottom surface of the moving platform. Set up an analysis step to perform stiffness analysis on the sway table until the analysis results stabilize. Then, the geometric model is combined with rigid body dynamics analysis to set the density of the component materials and the kinematic pairs between the components. An additional virtual mass point is set at the rotation center of the moving platform of the swing table, and the mass point is bound to the six degrees of freedom of the moving platform. An analysis step is set to evaluate the stiffness of the swing table until the evaluation results are stable. The time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition are extracted respectively, and the difference is taken. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. The deviation is compared with the design value to obtain the stiffness analysis and evaluation results of the swing table under the working condition load.

2. The method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in claim 1, characterized in that, The preprocessing of the geometric model is a process of simplifying the geometric model, including: removing components unrelated to the transmission path, redundant parts, and local structural features from the obtained rocking table geometric model, and retaining the scissor mechanism with 6 branches, the side guide rail slider base, the connecting rod, the moving platform base, and the moving platform in the geometric model; the local structural features include chamfers and stepped holes.

3. The method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in claim 1, characterized in that, The various transmission components of the geometric model are meshed, and the kinematic pairs between the components are set, including: setting the revolute pairs between each scissor arm of the scissor mechanism, the revolute pairs between the scissor mechanism and the connecting rod, and the revolute pairs between the connecting rod and the moving platform base. The moving platform base is bound to the bottom surface of the moving platform. The rotation center of the moving platform is the geometric center of the plane formed by the center points of the three moving platform base revolute pairs. A virtual node is created at this position and bound to the adjacent node of the moving platform.

4. The method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in claim 3, characterized in that, Define the rotation center on the moving platform as the point where the rigid body displacement is 0 under any pure rotational condition. Set a virtual mass node at the rotation center and couple the degree of freedom of this node with the adjacent nodes on the moving platform.

5. The method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in claim 1, characterized in that, Set up an analysis step to perform stiffness analysis on the sway table until the analysis results stabilize. This includes setting up a two-step analysis step. In the first step, slowly move the sway table moving platform to its initial position and hold it for a period of time until the analysis results stabilize. In the second step, move the table for multiple cycles according to the working load and apply multiple sets of displacement time history curve loads input from the motor to multiple sets of scissor lift mechanism bases. Output the displacement time history curve of the rotation center in the second step until the curve display stabilizes.

6. The method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in claim 1, characterized in that, Then, the geometric model is combined with rigid body dynamics analysis to set the density of the component materials and the kinematic pairs between the components. This includes: importing the simplified geometric model into the rigid body dynamics analysis software, setting the density of the component materials, setting the kinematic pairs between the components, setting an additional virtual mass point at the rotation center, and binding the mass point to the six degrees of freedom of the moving platform.

7. The method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in claim 1, characterized in that, After the rigid body evaluation results stabilize, the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and the rigid body dynamics model reach the stability condition are extracted, subtracted, and the absolute value is taken. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. The deviation is compared with the design value to obtain the stiffness evaluation result of the swing table under the load condition. The rotation center of the moving platform is used as the reference position for extracting the overall structural deviation to obtain the evaluation result under the multi-degree-of-freedom combined load condition.

8. A high-speed, heavy-load, six-degree-of-freedom swing table stiffness analysis and evaluation system, characterized in that, Specifically, the method for stiffness analysis and evaluation of a high-speed, heavy-load, six-degree-of-freedom swing table as described in any one of claims 1-7 includes: The model initialization module is used to obtain the overall geometric model of the swing table and preprocess the geometric model. The stiffness analysis module is used to combine the geometric model with finite element flexible body dynamics analysis. Given the elastic modulus, Poisson's ratio and density of the component material, it meshes each transmission component of the geometric model and sets the kinematic pairs between the components; it sets the analysis step to perform stiffness analysis of the swing table until the analysis results are stable. The stiffness assessment module is used to combine the geometric model with rigid body dynamics analysis, set the density of the component materials and the kinematic pairs between the components, set an additional virtual mass point at the rotation center of the rocking table's moving platform, and set the mass point to be bound to the six degrees of freedom of the moving platform; set the analysis step to perform the stiffness assessment of the rocking table until the assessment results are stable. The results acquisition module is used to extract the time history curves of each degree of freedom at the rotation center within the complete cycle after the finite element flexible body model and rigid body dynamics model reach the stability condition, subtract them and take the absolute value. The maximum value of the absolute value is the deviation of the swing table in that degree of freedom. The deviation is compared with the design value to obtain the stiffness analysis and evaluation results of the swing table under the working condition load.

9. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium is used to store computer instructions, which, when executed by a processor, implement a high-speed heavy-load six-degree-of-freedom swing table stiffness analysis and evaluation method as described in any one of claims 1-7.

10. An electronic device, characterized in that, include: The device includes a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to perform a method for stiffness analysis and evaluation of a high-speed heavy-load six-degree-of-freedom swing table as described in any one of claims 1-7.

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