基于压电驱动的六自由度并联平台运动学分析

Kinematic Analysis of a 6-DOF Parallel Platform Based on Piezoelectric Actuation

摘要:

提出了一种基于压电驱动的新型六自由度并联平台,针对该并联平台的机械结构分析其运动学问题, 并利用修正的Grübler-Kutzbach公式验证其自由度。根据平台的结构及运动特点,利用坐标矩阵齐次变化方法推导出平台的运动学解析模型。利用该模型计算出具体运动结果,并与Adams软件仿真分析结果进行对比,验证了运动学模型的正确性,为同类压电并联平台的机构构型以及后续实际应用提供了理论基础。

Abstract:

A novel 6-DOF parallel platform based on piezoelectric actuation is proposed. The mechanical struc ture of the platform is examined to analyze its kinematic problems, and the degrees of freedom of the platform are verified using a modified Grübler-Kutzbach formula. Based on the structural and motion characteristics of the plat form, the kinematic analytical model is derived using the homogeneous transformation method. The specific motion results obtained from the kinematic model are compared with those derived using Adams simulation software to vali date the accuracy of the kinematic model. This research provides a theoretical foundation for the design and future practical applications of similar piezoelectric parallel platforms.