| 引用本文: | 王英波,李明,丛大成,许宏光,韩俊伟.高速列车车端关系综合试验台试验研究[J].哈尔滨工业大学学报,2012,44(11):51.DOI:10.11918/j.issn.0367-6234.2012.11.010 |
| WANG Ying-bo,LI Ming,CONG Da-cheng,XU Hong-guang,HAN Jun-wei.Experimental study on the comprehensive test bench of high-speed train cabinet-end relationship[J].Journal of Harbin Institute of Technology,2012,44(11):51.DOI:10.11918/j.issn.0367-6234.2012.11.010 |
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| 摘要: |
| 为了验证基于Stewart并联机器人的车端关系综合试验台能否满足车端关系试验的要求,进行静态定位精度、最大运动范围、运动学正解、动态跟踪特性和最大输出速度试验．结果表明,试验台最大平移运动定位误差0.1 mm,最大旋转运动定位误差0.1°,远优于车端关系试验实际需求,Stewart并联机器人运动学正解精确,可用于系统状态实时监控;动态跟踪特性中,最大幅值衰减和相位滞后均发生在Y向,分别为0.755 dB和25.92°,明显优于幅值衰减3 dB和相位滞后小于90°的要求;三向平移运动最大输出速度均能够达到0.2 m/s的要求．表明车端关系综合试验台完全能够满足高速列车车端关系试验的要求,并且具备进一步提升性能的空间． |
| 关键词: 高速列车 车端关系试验 Stewart并联机器人 运动学正解 定位精度 动态跟踪 试验研究 |
| DOI：10.11918/j.issn.0367-6234.2012.11.010 |
| 分类号:TP242.2 |
| 基金项目:国家自然科学基金资助项目(51105094);机器人技术与系统国家重点实验室资助项目(SKLRS200803B). |
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| Experimental study on the comprehensive test bench of high-speed train cabinet-end relationship |
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WANG Ying-bo1, LI Ming2, CONG Da-cheng1, XU Hong-guang1, HAN Jun-wei1
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1.School of Mechanical and Electrical Engineering, Harbin Institute of Technology, 150001 Harbin, China ;2.National Engineering Laboratory for System Integration of High-speed Train, CSR Qingdao Sifang Locomotiveand Rolling Stock Corporation Limited, 266111 Qingdao, Sandong, China
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| Abstract: |
| To verify whether the comprehensive test bench of cabinet-end relationship for high-speed train can meet the demand or not, the positioning precision, maximum motion range, forward kinematics, dynamic tracking performance and maximum output speed tests were carried out. The results indicate that the maximum positioning error of translational motion is 0.1 mm and the maximum positioning error of rotation motion is 0.1°, far superior to the actual demand. The forward kinematics of the Stewart parallel manipulator is precise enough and can be used for monitoring the real-time state of the system. In the dynamic tracking test, the maximum aptitude attenuation and the maximum phase lag occur in the Y direction, 0.755 dB and 25.92°, respectively, significantly better than the amplitude attenuation 3 dB and phase lag 90°. The maximum output speed of three translational motion can meet the 0.2 m/s requirement. The results show that cabinet-end relationship comprehensive test bench can fully meet the demand of the high-speed train cabinet-end relationship test and has space for further improving performance. |
| Key words: high-speed train cabinet-end relationship test Stewart parallel manipulator forward kinematics positioning accuracy dynamic tracking experimental study |
