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平臺耦合研究*

王偉 謝海波 傅新 楊華勇

浙江大學流體傳動及控制國家重點實驗室 杭州 310027

摘 要 耦合現象在大型液壓Stewart平臺中普遍存在，本文以大型液壓Stewart平臺為目標，采用AMESim和SimMechanics對液壓部分及平臺機構部分分別建模，通過軟件接口建立聯合仿真體系對平臺動態耦合進行定量分析，數值模擬了六缸動態特性在一致和有差異的情況下動態耦合的強度和規律，該仿真方法針對液壓與并聯機構進行分布式建模，解決了數學模型的精確性問題，建立了大型液壓Stewart平臺通用聯合仿真模型，為Stewart平臺的耦合研究提供了有效的理論研究手段，能夠針對平臺進行前期耦合預測，保證設計方案的準確性與可靠性。

關鍵詞 液壓Stewart平臺，耦合，AMESim，聯合仿真