Posture-dependent Nonlinear Stiffness of Hydraulic Stewart Platform with Considering Fluid-structural Coupling Effects
(0) The static and dynamic performances of a hydraulic Stewart platform(HSP)are mainly determined by the stiffness characteristics of the platform.The stiffness evaluation is fundamental to the design and control of such kind of systems.The nonlinear stiffness of an HSP is influenced by many factors such as the compressibility of the fluid,the flexibility of the fluid supply pipe,and the posture variation of the platform.In this article,the nonlinear stiffness of an HSP is investigated with considering the fluid-structural coupling effects and posture of the platform.Firstly,nonlinear stiffness of a single hydraulic rod is formulated with considering the flexibility of the pipe.The posture-dependent stiffness matrix of an HSP is then derived.Numerical simulations are presented to illustrate the variations of stiffness characteristics as the initial posture of platform changes.The proposed model and algorithm can be used to design HSP for achieving desired static and dynamic performances.
Jiu-lin WU Xue-dong CHEN Wei JIANG
State Key Laboratory of Digital Manufacturing Equipment & Technology,Huazhong University of Science and Technology,Luoyu Road,Wuhan,China
国际会议
上海
英文
365-372
2017-12-30（万方平台首次上网日期，不代表论文的发表时间）