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8-PSS冗余输入地震模拟器运动特性分析
Kinetic Characteristics Analysis of an 8-PSS Redundant Input Earthquake Simulator
【摘要】 提出一种采用8-PSS冗余输入的6自由度并联地震模拟器,该地震模拟器具有唯一的位置反解。运用矢量算法对地震模拟器各构件的速度和加速度进行了分析,并求得其一阶影响系数矩阵及二阶影响系数矩阵。最后给出了当振动平台分别沿Z轴和绕Z轴做正弦振动时各构件的运动特性曲线,验证了推导结果的正确性。试验结果为该并联地震模拟器进一步的性能分析、动力学分析和控制系统设计等奠定了基础。
【Abstract】 The paper presented a 6-DOF parallel earthquake simulator with 8-PSS redundant input which has a unique inverse solution.The velocity and acceleration of every component of the earthquake simulator were analyzed by using vector algorithm,whose first-order influence coefficient matrix and second-order one are deduced.Finally,the kinetic characteristic curves of each component were plotted,which verifies the validity of the deduction.The analysis results lay a foundation for the further analysis of performance,dynamics and control system design.
【Key words】 parallel mechanism; redundant input; earthquake simulator; kinetic characteristic;
- 【文献出处】 机械科学与技术 ,Mechanical Science and Technology , 编辑部邮箱 ,2006年07期
- 【分类号】P315.8
- 【被引频次】9
- 【下载频次】104