关键词: 并联运动系统, 动力学, 冗余构件, 坦克发动机, 正解

Abstract: The platform is a test-equipment which is used to simulate the tank engine’s movement state when the tank runs on the road. A multi-branch parallel manipulator with redundant branches driven by hydraulic power is adopted, which can meet the requirements of heavy load, high agility and complicated movement. Using d’Alembert principle to deduce the dynamics equation of multi-DOF parallel manipulator, the additional forward-kinematics canonical equation is introduced to carry out the dynamics calculation of the multi-branch parallel manipulator with redundancy branches. As a result, the sententious and practical dynamics equation of the platform is achieved. Moreover, the contrast between the simulation and the experiment is performed. And the analysis result seems to validate that the simulation result well matches the experimental result. This method not only provides theoretical reference for reasonable structure design, but also can be used in real-time control system. It seems to open up a feasible method to reasonably analyze the dynamics characteristic and improve the real-time control performance for this kind of system.

Key words: Parallel manipulator, branches Tank engine, Dynamics, Forward kinematics, Redundancy