A strategy to simplify the dynamic model of 6-DOF motion simulator

被引：0

作者：

Yin, Liyi ^{[1
]}

Yang, Chifu ^{[1
]}

Gao, Changhong ^{[1
]}

Cong, Dacheng ^{[1
]}

Han, Junwei ^{[1
]}

机构：

[1] Harbin Inst Technol, 92 Xidazhi St, Harbin 150001, Heilongjiang, Peoples R China

来源：

PROCEEDINGS OF THE 2015 4TH INTERNATIONAL CONFERENCE ON SENSORS, MEASUREMENT AND INTELLIGENT MATERIALS | 2016年 / 43卷

关键词：

Motion simulator; Dynamic model; Movement decomposition; Model simplification; INVERSE DYNAMICS; STEWART PLATFORM; PARALLEL MANIPULATORS;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Highly nonlinearity and strong dynamic coupling exist in 6-DOF motion simulator. Usually, in order to make the system has good dynamic and static quality, a good controller need to be designed according to the nature of the dynamic model. Therefore, the research about the simplified dynamic model used for real-time solution will be very meaningful. First, KANE method is used to build complete compact multi-rigid-body dynamic model. Second, rigid body and movement decomposition method are used to split dynamic model. On this basis, simplified strategy of the dynamic model of 6-DOF motion simulator based on dynamic contribution factor is proposed. Finally, the simulation verifies that the simplified dynamic model can be real-time calculated with high efficiency.

引用

页码：665 / 672

页数：8

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