Study of Coupling Characteristics of Large Hydraulic Stewart Platform

Wei Wang, Xie Haibo, Xin Fu, Huayong Yang

State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027

(E-mail: xiaoaoww@163.com)

Abstract—The coupling characteristics are always taken into consideration when designing the hydraulic Stewart platform. In this paper, the large hydraulic Stewart platform is studied on the coupling dynamics. A combined simulation method is developed in which the hydraulic system model is built in software AMESim, and the parallel mechanism system model is built in software SimMechanis. With the simulation system the dynamic coupling characteristics are studied under alternative situations depended on the dynamic consistency of the six hydraulic cylinders. This method which is universal in different huge hydraulic Stewart platforms is of high accuracy, it provides a theoretical research technique of the coupling study for the Stewart platform, in addition, this method can pre-estimate the coupling state, and therefore it ensures the accuracy and the reliability of the design scheme.

Keywords—Stewart platform, coupling, AMESim, combined simulation

大型液壓Stewart平臺(tái)耦合研究*

王偉 謝海波 傅新 楊華勇

浙江大學(xué)流體傳動(dòng)及控制國家重點(diǎn)實(shí)驗(yàn)室 杭州 310027

摘 要 耦合現(xiàn)象在大型液壓Stewart平臺(tái)中普遍存在，本文以大型液壓Stewart平臺(tái)為目標(biāo)，采用AMESim和SimMechanics對(duì)液壓部分及平臺(tái)機(jī)構(gòu)部分分別建模，通過軟件接口建立聯(lián)合仿真體系對(duì)平臺(tái)動(dòng)態(tài)耦合進(jìn)行定量分析，數(shù)值模擬了六缸動(dòng)態(tài)特性在一致和有差異的情況下動(dòng)態(tài)耦合的強(qiáng)度和規(guī)律，該仿真方法針對(duì)液壓與并聯(lián)機(jī)構(gòu)進(jìn)行分布式建模，解決了數(shù)學(xué)模型的精確性問題，建立了大型液壓Stewart平臺(tái)通用聯(lián)合仿真模型，為Stewart平臺(tái)的耦合研究提供了有效的理論研究手段，能夠針對(duì)平臺(tái)進(jìn)行前期耦合預(yù)測(cè)，保證設(shè)計(jì)方案的準(zhǔn)確性與可靠性。

關(guān)鍵詞 液壓Stewart平臺(tái)，耦合，AMESim，聯(lián)合仿真

025-大型液壓Stewart平臺(tái)耦合研究.pdf