基于ADAMS的Stewart次镜平台运动学和动力学仿真

摘要

调整次镜位姿是空间相机提高成像质量的有效方法之一.为优化Stewart次镜调整平台的结构设计,研究了基于ADAMS虚拟样机技术的并联机构运动学和动力学仿真方法.首先对Stewart并联机构进行了运动学理论分析,建立了运动学逆解数学模型并计算了解析结果;然后,在ADAMS中建立了并联机构虚拟样机并进行运动学逆解仿真,其仿真结果与解析结果一致,证明了虚拟样机模型的正确性;再将ADAMS运动学逆解作为各杆驱动函数,实现了运动学正解及动力学逆解仿真.基于ADAMS虚拟样机技术的并联机构运动学和动力学特性分析方法,为次镜调整平台的结构优化设计提供了理论依据和主要参数.%Posture adjustment of the secondary mirror is one of the effective ways to improve the image quality of space camera.In order to optimize the structural design of Stewart platform for secondary mirror posture adjustment,simulation method of kinematics and dynamics of parallel manipulator based on ADAMS virtual prototyping technology was studied.First,theory analysis of inverse kinematics of Stewart parallel manipulator was performed,and the analytical results of inverse kinematics were obtained via mathematical modeling and calculating.Then,inverse kinematics simulation was carried out in ADAMS after the virtual prototype of parallel manipulator was established.The simulation results in ADAMS and analysis results were consistent,hence it proved the correctness of the virtual prototype model.Then,the kinematics and inverse dynamics simulation were realized by using result of inverse kinematics in ADAMS as drive function of each strut.The analysis method of kinematics and dynamics of parallel manipulator,based on ADAMS virtual prototyping technology,provided a theoretical basis and the main parameters for optimizing design of secondary mirror.