以6-UPU电动平台为研究对象,分析其构型不同点,在考虑电动缸质心偏离轴线位置与丝杠装置绕自身转动的基础上,基于运动学分析建立了完整的动力学模型并写成一般形式.以工程实际中的低速大负载电动平台为例,对完整与简化两种动力学模型进行了仿真分析,其误差度在1%～2.2%的范围内,验证了动力学模型简化条件的合理性.实例表明,所建模型对类似构型的运动平台有一定的通用性.%6 - UPU electric platform was analyzed considering of the different points of the structural type. An integrated dynamic model of 6 - UPU electric platform was built and written to general form based on kinematics analysis, considering of centroids of electric actuator deviating the axes of themselves and snail-mechanism going around the axes of themselves. Taking the heavy load electric platform with low speed as example, both integrated and simplified dynamics model were emulated and analyzed. The reasonability of the simplified condition of dynamics model was verified. The error tolerance was within 1% to 2. 2% . A numerical example showed that this model had universality for the move platform of the similar mechanisms.
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