RESEACH ON DYNAMICS OF THE PLATFORM USED TO SIMULATE THE TANK ENGINE’S MOVEMENT STATE

YUAN Lipeng  XU Hongguang  ZHAO Keding

(School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001)

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: Dynamics  Forward kinematics  Parallel manipulator  Redundancy  branches  Tank engine

CLC No: TP212.12

兵器部大型研制基金资助项目(502条保). Received 20050512, received in revised form 20051130