液壓六自由度并聯(lián)機(jī)構(gòu)虛擬樣機(jī)研究.pdf

1、浙江大學(xué)機(jī)械與能源工程學(xué)院碩士學(xué)位論文液壓六自由度并聯(lián)機(jī)構(gòu)虛擬樣機(jī)研究姓名：黨田峰申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：阮曉東20080515浙江大學(xué)碩：I：學(xué)位論文AbstractParallelmechanismhasmanyadvantagesofgoodrigiditylargebearingcapacity，noaccumulativeerrorhighprecision，fastsystemdynamicrespon

2、se，etcHydraulicdrivenotonlyprovidesaccuraterectilinearmovement，butalsohasadvantagesofhighprecision，fastresponseandwide—rangespeedregulationHydraulicparallelmechanismiswidelyusedinfieldsofindustryshipcraftandspaceflightWi

3、thdevelopmentofscienceandtechnologynewwaysofdesigntechniquesemergeVirtualprototypehasbeendevelopingveryquicklyinrecentyearsCombiningrobotstudywithvirtualprototype，researchonkinematics，dynamics，tracking，routeplanningandpe

4、rformanceanalysiscouldbecardedoutinvirtualenvironmentItcouldenhancereliabilityanddesignefficiencyThispaperWastargetedatthemodelingofhydraulicparallelmechanismvirtualprototypeInrecentresearches，parallelmechanismvirtualpro

5、totypefocusedondynamicmodeling，drivingsystemmodelingWasseldominvolved，andmodelingofhydraulicsystemwasalwayssimplifiedThispaperwasintendedtobuildahydraulicparallelmechanismvirtualprototypeincludinghydraulicsystem，mechanis

6、mandcontrolstrategyMeanwhile，thehydraulicsystemwouldbebuiltinanaccuratewayandwithgoodexpandabilityThispaperfocusesontheaccuratemodelingofthehydraulicsystemResearchesontechnicalissuesofthehydraulicsystemmodelingwerestudie

7、dByadjustingparametersoftheservovalvemodel，characteristiccurvesoffrequencyresponseasrequiredwereacquired；Basedonfrictioncharacteristicofoilcylinderinlowspeed，adetailedfrictionmodelwasbuilt；Builtasinglehydrauliccontrolsys

8、tembasedonPIDstrategy；CompletedtheAMESimandADAMSinterfacewithnon—massstrategyinAMESimAccuracyanalysisonparametersettingoftheAMESim&ADAMSinterfacewasperformedSomeproblemincosimulationwasfoundandsolvedKinematicnumericalexp