六自由度运动平台的振动分析与测试.pdf

Journa l of M echan ica l Strength 2006, 28 ( S) : 17 ～2 1 六自由度运动平台的振动分析与测试 V IBRA T IO N A NALY S IS A ND TEST O F A S IX D EGREES O F FREEDOM PL A TFO RM 赵 　强1 　李洪人2 ( 1. 东北林业大学 交通运输学院, 哈尔滨 150040) ( 2. 哈尔滨工业大学 机电学院, 哈尔滨 15000 1) 1 2 ZHAO Q ia n g 　L I Ho n gR e n ( 1. S chool of Traff ic Transp orta tion E ng ineering, N ortheast F ores try Un ivers ity, H a rbin 150040, Ch ina) ( 2. S chool of M echa tron ic E ng ineering, H a rbin Ins titu te of Technology, H a rbin 15000 1, Ch ina) 摘要 　刚度和固有频率是影响六自由度运动平台性能的重要因素 ,文中采用线性化方法推导预载状态下六 自由度 运动平台的刚度矩阵 ,建立平台的自由振动方程 ,并求出其固有频率 。利用脉冲激励实验对六自由度平台的频率进行测 试 ,实验结果和理论分析的结果较为接近 ,验证文中理论和实验方法的有效性 。文中方法可用于六自由度平台的刚度设 计和频率分析 。 关键词 　Stewart平台　刚度 　振动 　频率 　测试 中图分类号 　TH 113. 1 Ab stract　Stiffne ss and natural frequency are two important factors to affect the p erform ance of a sixdegreeoffreedom mo tion p latform. By m ean s of a linearized m ethod, the stiffness m atrix is derived for a p reloaded p latform. The free vib ration equa tion is fu rther e stab lished, and by solving its characteristic form u la, the natural frequencies are ob tained for each degree of free dom in the p latform. Som e pu lse excitation exp erim en ts are carried out to te st the natu ral frequencie s on a real sixdegreeoffree dom p latform. The frequencies m ea su red by exp erim ents show better agreem ent w ith the theoretical comp utation re su lts, wh ich il lu strate s the fea sib ility and effectiveness of the p ropo sed m ethod. It can be u sed for the s