六自由度并联运动平台运动分析及仿真

Motion Analysis and Simulation of a Six-Degree-of-Freedom Parallel Motion Platform

摘要: 针对并联运动平台在空间的运动分析问题，提出并设计了一种电机驱动的六自由度并联运动平台，该运动平台由三个伸缩杆通过铰链连接而成，能够使得运动平台具备空间六个自由度的运动。利用SolidWorks软件建立了整体结构的三维模型，并用Kutzbach-Grubler公式验证了所提出的并联运动平台空间自由度数量的正确性。根据逆运动学算法，结合MATLAB软件对所设计的并联运动平台进行了位姿求解，验证了算法的正确性。最后通过ANSYS软件对模型进行了有限元分析，研究了在受力状态下的结构变形和振动特性，验证了六自由度并联运动平台在受力和振动方面的结构可行性。

Abstract: In response to the spatial motion analysis problem of parallel motion platforms, a six-degree-of- freedom parallel motion platform driven by motors is proposed and designed. The motion platform is composed of three telescopic rods connected by hinges, enabling the platform to have six degrees of freedom in space. A three-dimensional model of the overall structure was established using SolidWorks software, and the correctness of the proposed parallel motion platform’s spatial degrees of freedom was verified using the Kutzbach-Grubler formula. Based on the inverse kinematics algo-rithm, combined with MATLAB software, the designed parallel motion platform was subjected to pose solutions, verifying the correctness of the algorithm. Finally, finite element analysis of the model was conducted using ANSYS software to study the structural deformation and vibration characteristics under the force state, validating the feasibility of the six-degree-of- freedom parallel motion platform in terms of force and vibration.