Three DOF Platform program design and dynamics analysis
|School||Nanjing University of Technology and Engineering|
|Course||Mechanical Manufacturing and Automation|
|Keywords||Turntable Dynamics Control Parallel mechanism Optimization Co-simulation|
Three - DOF is a typical mechatronic complex products , as a space for the mechanical movement , has been widely used to simulate the ship , vehicle , aircraft movement gesture . In this paper, the virtual prototyping technology dynamic design and analysis , the main contents include: DOF station overall program based on the overall system performance requirements , the design , including swing sets overall constitute three DOF Platform The mechanical body design , drive , program design , and control program design . Parametric design software Pro / E to establish a three-dimensional solid model of swing sets , the quality of the key components , the position of the center of mass , moment of inertia design parameters . Three DOF stage multi-body system dynamics model based on virtual prototyping software ADAMS , Turntable dynamics simulation by defining constraints , loads and simulation strategy , Turntable motion and force law . Turntable structural parameters affect the dynamic characteristics of sensitivity analysis model , key research on the influence of the radius of the circle under the hinge point distribution , electric cylinder layout size , structure , swing sets performance gap , based on established Turntable drive power for the objective function of the optimization model , the structural parameters of the distribution circle radius optimization calculations , to provide a reference for the Turntable overall program optimization matching . Turntable attitude control problem . Study of the aspects of the control of the servo motor , mechanical drive , load modeling techniques , system modeling software AMESim the swing station location system cascade composite control model . The effectiveness of using ADAMS software Control module will be rocking the stage multi-body system dynamics model with AMESim environment under control model organically connected by the control variables , electromechanical dynamic characteristics of swing sets joint simulation , simulation results show that the control method and joint simulation of practicality .