Dynamics Simulation And Optimization Of Six Degrees Of Freedom Swaying Platform

Essentially,the six degrees of freedom swaying platform which based on Stewart platform is parallel mechanism,with many advantages of large bearing capacity, good rigidity, high precision, fast system dynamic response, without accumulative error, etc. So it is widely used to in these fields, such as, robot, flight simulator, new type machine, large radio telescope, astronatics docking. It is the hotspot in the field of mechanism study in recent years. For accomplishing its optimizing design, real simulation and control, you must have a full knowledge of the manipulating structure's kinematics and dynamics. This paper deals with the analysis of kinematics and dynamics about swaying platform, and accomplish its optimizing design by the analysis of kinematics and dynamics.Firstly, I built up simplify three-dimensional model and acquired the parameters of quantity, inertia and centroid. Then I carried on the kinematics simulation in multi-body dynamics software ADAMS, thus verified the accuracy of design scheme.Secondly, I applied the method of matrix analysis to build up mathematic model of swaying platform, and solved the question of motion anti-solution, velocity and acceleration. Then I analyzed the dynamics problems of the swaying platform. Based on the calculation of the swaying platform's force and moment, built up the dynamics equations of swaying platform by using virtual work principle.Lastly, based on the ADAMS software, the simulation was performed. The dynamics'effect of swaying platform was analyzed by modifying model structure parameters. According to the analysis results, the swaying platform's structure was optimized. Then I performed the simulation with the optimized model and obtained dynamics parameters. These parameters will provide the basis for control of swaying platform and selection of the eletromotor.