2自由度重型摇摆台的逆运动学分析及其轨迹规划  

Inverse kinematics analysis of 2-DOF heavy swaying platform and its trajectory planning

作　　者：郝登运[1,2] 张国华[3] 韩荻[2] 杨志永[1,2] 陈九川[2] 

机构地区：[1]机械系统与振动国家重点实验室,上海200240 [2]天津大学机械工程学院,天津300072 [3]中国船舶重工集团公司第七一八研究所,河北邯郸056027

出　　处：《机械设计》2011年第2期58-60,93,共4页Journal of Machine Design

基　　金：天津市自然基金自主资助项目(08JCYBJC01200);机械系统与振动国家重点实验室开放课题资助项目(MSV201022);河北省教育厅科研基金资助项目(2007403)

摘　　要：设计了一种2自由度大承载摇摆台,建立其数学模型,研究其运动学逆解;在此基础上,对其进行轨迹规划。最后采用正弦方法,并通过仿真验证轨迹规划的有效性。该研究为2-DOF摇摆台的控制与轨迹误差跟踪奠定了一定的理论基础。2-DOF heavy swaying platform was designed,its mathematical model was established and its inverse solution of kinematics was investigated.Based on this,its trajectory was planned.Finally,by using the sine curve method and simulation,the validity of trajectory planning was testified.The research has laid a certain theoretical foundation for further study of the control of 2-DOF heavy swaying platform and its trajectory tracking error.

关 键 词：并联机构 自由度 逆运动学 轨迹规划 摇摆台 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]