Dynamic Analysis and Simulation of a 6-Degree of Freedom Parallel Earthquake Simulator

Abstract

Abstract: Based on Newton-Euler method, the research on the dynamics of a 6-PSS parallel earthquake simulator was presented. The relations of motion parameters between the platform and other poles were deduced. Newton-Euler equations were educed for every poles and the platform respectively with thinking about the effect of the gravity and inertia force of all components. After all of forces between poles and between platform and other poles being removed, equations for the inverse dynamics of the holistic parallel mechanism were established. According to the dynamic model, a numerical simulation was presented and the driving force emulational curves for different modes of vibration were obtained. The results show that not only the dynamic model is valid but also this earthquake simulator is suited to simulate seism. The dynamic model also has a potential application of accurate control to the parallel earthquake simulator.

Key words: earthquake simulator, dynamic model, simulation of dynamics, parallel robot

CLC Number:

TH6
TP24

ZHANG Jian-Zheng, GAO Feng, ZHAO Xian-Chao, MA Chun-Xiang. Dynamic Analysis and Simulation of a 6-Degree of Freedom Parallel Earthquake Simulator[J]. Journal of Shanghai Jiaotong University, 2011, 45(09): 1263-1268.

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