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计算机工程 ›› 2009, Vol. 35 ›› Issue (2): 27-29. doi: 10.3969/j.issn.1000-3428.2009.02.010

• 软件技术与数据库 • 上一篇    下一篇

四自由度并联跟踪台的软件关键技术

刘 峰,王向军,许 洪,张召才   

  1. (天津大学精密测试技术及仪器国家重点实验室,天津 300072)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2009-01-20 发布日期:2009-01-20

Key Software Technology of 4-Degree of Freedom Parallel Tracking Platform

LIU Feng, WANG Xiang-jun, XU Hong, ZHANG Zhao-cai   

  1. (National Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072)
  • Received:1900-01-01 Revised:1900-01-01 Online:2009-01-20 Published:2009-01-20

摘要: 研究四自由度并联跟踪台中的软件关键技术,编写Matlab仿真程序对并联跟踪台进行参数化设计,利用Solidworks与ADAMS联合仿真软件获取并联跟踪台的运动学和动力学性能参数,通过对操纵杆的编程实现对并联跟踪台的手动控制。实验结果表明,四自由度并联跟踪台设计合理、运动灵活、手控效果好。

关键词: 并联跟踪台, Matlab参数化仿真, 联合仿真, 手动控制

Abstract: During the development of the 4-degree of freedom parallel tracking platform, the key software technology of which is studied. The following things are introduced: the method of compiling Matlab code to emulate parameterization of the parallel tracking platform, the method of using Solidworks and ADAMS software to get the kinematics & dynamics performance parameter of the parallel tracking platform and the method of programming on the biaxial joy stick to realize the manual control of the parallel tracking platform. Experimental rusult shows that the 4-degree of freedom parallel tracking platform is of proper design, flexible movement and well manual control property.

Key words: parallel tracking platform, parameterization emulation with Matlab, combination emulation, manual control

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