| 一种基于六自由度并联机构的动基座模拟器 |
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| 引用本文： | 温奇咏,马广程,王常虹,任顺清,曾庆双.一种基于六自由度并联机构的动基座模拟器[J].航天控制,2004,22(5):63-67. |
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| 作者姓名： | 温奇咏 马广程 王常虹 任顺清 曾庆双 |
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| 作者单位： | 哈尔滨工业大学控制科学与工程系,哈尔滨,150001 |
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| 摘 要： | 介绍了一种基于六自由度并联机构的海浪模拟器。该模拟器系统采用 6UPS并联机器人作为机械台体 ,由伺服电机驱动 ,具有六个运动自由度 ,可以在一定程度上模拟舰艇水面水下运动情况 ,从而为各类舰艇导航系统和瞄准设备的研发提供支撑载体。实验和使用表明系统控制精度高、性能良好 ,安全稳定
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| 关 键 词： | 并联机构 六自由度 模拟器 |
| 文章编号： | 1006-3242(2004)05-0063-05 |
| 修稿时间： | 2004年4月2日 |
A Surf Simulator Based on 6DOF Parallel Manipulator |
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| Wen Qiyong,Ma Guangcheng,Wang Changhong,Ren Shunqing,Zeng Qingshuang.A Surf Simulator Based on 6DOF Parallel Manipulator[J].Aerospace Control,2004,22(5):63-67. |
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| Authors: | Wen Qiyong Ma Guangcheng Wang Changhong Ren Shunqing Zeng Qingshuang |
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| Affiliation: | Wen Qiyong Ma Guangcheng Wang Changhong Ren Shunqing Zeng Qingshuang Department of Control Science and Engineering,Harbin Institute of Technology 150001 |
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| Abstract: | In this paper a design of surf simulator based on the theory about six degree of freedom parallel manipulator is precented. The simulator, with a 6UPS mechanical body and digital controller, is driven by servo motor using optical encoder to measure position and velocity precisely. Experiments show that it is characterized with high control precise, unquestionable quality, safety and stability. |
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| Keywords: | Subject terms Parallel manipulator Six-degree of freedom Simulator |
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