多维力加载装置动力学建模及加载试验

设计了一种基于6-PUS并联机构的多维力加载装置，可对目标施加多维时变载荷。首先，根据向量叠加原理和牛顿迭代法，分别推导了加载装置的运动学逆解与正解。其次，基于旋量理论，推导加载装置的速度和静力雅可比矩阵，建立动平台与各支链的运动学和静力学映射。再次，根据虚功原理，建立加载装置的动力学模型，并且通过对比Adams和MATLAB模型的仿真结果，验证动力学模型的正确性。最后，设计并完成多维力加载试验，验证加载装置的多维力加载能力，为后续的数控机床加载试验提供新的加载手段和理论基础。

Dynamic modeling and loading experiment of multi-dimensional loading device

A multi-dimensional loading device based on a 6-PUS parallel mechanism was designed to apply time-varying multi-dimensional loads to target.Firstly,according to the principle of vector superposition and Newton-Raphson method,the inverse and forward kinematics of loading device were analyzed.Secondly, based on the screw theory, the velocity and static force Jacobian matrix, which represent the kinematic and static mapping between the moving platform and actuations,were derived.Thirdly,according to the principle of virtual work,the dynamic model of loading device was established and validated by comparing the actuation forces derived from Adams and MATLAB simulation models.Finally,the multi-dimensional loading tests were designed and completed to verify the multi-dimensional loading ability of the device.The loading device pro-vides a new loading method and theoretical basis for the loading tests of numerical control machine tools.