北京航空航天大学学报 ›› 2007, Vol. 33 ›› Issue (08): 940-944.

• 论文 • 上一篇    下一篇

六自由度Stewart平台动力学模型的特性分析

郭洪波1, 刘永光1, 李洪人2   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083;
    2. 哈尔滨工业大学 机电工程学院, 哈尔滨 150001
  • 收稿日期:2006-10-10 出版日期:2007-08-31 发布日期:2010-09-17
  • 作者简介:郭洪波(1974-),男,山东泰安人,博士后,ghbcn@263.net.
  • 基金资助:

    中国博士后科学基金资助项目(20060400386)

Characteristics analysis of dynamic model of 6-DOF Stewart platform

Guo Hongbo1, Liu Yongguang1, Li Hongren2   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2006-10-10 Online:2007-08-31 Published:2010-09-17

摘要: 根据六自由度Stewart平台的动力学模型,利用矩阵分析的方法详细分析和证明了动力学模型的一些物理特性:动力学模型系数矩阵的有界性,矩阵函数的斜对称性以及动力学模型的线性参数化. 这些工作为基于六自由度Stewart平台动力学模型的非线性控制器设计、系统稳定性的证明以及系统物理参数的辨识奠定了理论基础.

Abstract: Based on the derived dynamic model of a six-degree-of-freedom (6-DOF) Stewart platform, some physical characteristics of the model were analyzed and proved in detail using matrix analysis method, which consist of the boundedness of the coefficient matrixes of dynamic model, the skew-symmetry of the matrix functions, and the linear parameterization of the complete dynamic model of the 6-DOF Stewart platform. These works laid a foundation for the development of the nonlinear control strategies to achieve higher system performance by incorporating more structural system information, i.e. a model into the controller, and proving the stability of the corresponding control system. Furthermore, the linear parameterization model of the complete dynamic model can also be used in the physical parameters estimation of the dynamic system.

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