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为使摇摆台具备工作空间大、承载能力强、驱动间内力耦合小的特点,提出了一种新型驱动冗余的2自由度摇摆台,并对该摇摆台的总体设计方法进行了探讨.采用ZYX欧拉角描述平台的位姿,推导了摇摆台运动学、动力学参数的矩阵表示形式.在动力学分析中,通过减少驱动力数量,求取了各自由度的协同出力.然后在每个自由度上将单对称阀控制两个非对称缸简化为单对称阀控制单对称缸,并进一步提出了偏心负载的等效方法,分析了偏心负载刚度对系统控制性能的影响.最后,结合运动学、多体动力学模型,完成了摇摆台动力机构的设计及负载匹配校验.
In order to make the swing table possess the characteristics of large working space, strong bearing capacity and small internal force coupling between the drives, a new 2-DOF swinging stage with driving redundancy is proposed and the overall design method of the swing stage is discussed. ZYX Euler angle describes the pose of the platform and derives a matrix representation of the kinematics and dynamics parameters of the swing table.In the dynamic analysis, the synergistic output of each degree of freedom is obtained by reducing the number of driving forces, The two asymmetric cylinders controlled by single symmetric valve are reduced to single symmetric cylinder controlled by one degree of freedom, and the equivalent method of eccentric load is proposed. The influence of eccentric load stiffness on the control performance is analyzed. Finally, Kinematics, multi-body dynamics model, completed the design of swing power unit and load matching verification.