6-UPU电动平台安全性设计分析  

Safety design analysis of 6-UPU electric platform

作　　者：武光华[1] 龚烈航[1] 潘春萍[2] 王稳华[1] 李满[2] 

机构地区：[1]解放军理工大学工程兵工程学院,江苏南京210007 [2]空军航空大学军事仿真技术研究所,吉林长春130022

出　　处：《机械设计》2011年第9期83-88,共6页Journal of Machine Design

摘　　要：在分析6-UPU电动平台运动学反解基础上,给出了平台速度、力Jacobian矩阵,针对影响平台安全性相关因素,考虑双端虎克铰这种特殊结构,分析了结构约束条件,找出平台16种极限工作位置,提出最大力奇异和最大力非奇异空间的判断方法,建立了一种新的平台工作安全性检验算法,并通过具体实例进行了分析验证。实例表明,此方法对类似构型的结构设计及安全稳定性定量分析具有重要的借鉴意义。Based on the analysis of kinematical inverse solution of 6-UPU electric platform,the speed and the force＇s Jacobian matrix of platform has been given.For the related factors that have influence on the platform safety,by considering this special structure with Hooke＇s joints at both ends,the conditions of the structure constraints have been analyzed.Sixteen extreme work locations of the platform have been found out.The judgment method of the maximum force-singularity and the maximum force-nonsingular workspace was proposed.A new verification algorithm of the work safety of the platform was established,and verified by a way of specific example.The example shows that this method has significant reference sense for the safety,stability analysis and design of the similar mechanisms.

关 键 词：电动平台 检验算法 运动学分析 安全性分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]