基于运动学模型控制的球齿轮齿盘机构万向平台研制  

Development of Universal Platform for Spherical Gear and Fluted Disc Mechanism Based on Kinematics Model

作　　者：王白王 贾巨民 许爱芬 WANG Baiwang;JIA Jumin;XU Aifen(Postgraduate Training Brigade, Army Military Transportation University, Tianjin 30061, China;Military Logistics Department, Army Military Transportation University, Tianjin 300161, China)

机构地区：[1]陆军军事交通学院研究生管理大队,天津300161 [2]陆军军事交通学院军事物流系,天津300161

出　　处：《军事交通学院学报》2017年第12期74-79,共6页Journal of Military Transportation University

摘　　要：基于运动学模型控制的球齿轮齿盘机构万向平台,可用于对控制精度要求不高的场合,实现平面运动向球面运动的转换。在对球齿轮齿盘机构运动学进行分析的基础上,设计万向平台机械结构和控制方法。最后利用ADAMS仿真验证了该平台控制精度,能够满足实际应用要求。Universal platform of spherical gear and fluted disc mechanism based on kinematics model can be used in the areas with low requirement of control accuracy,and it can realize the transition from planar motion to spherical motion.After analyzing the kinematics of spherical gear and fluted disc mechanism,the paper designs the mechanical structure and control method of universal platform.Then,it verifies the control precision of the platform with ADAMS,which can meet the requirements of practical application.

关 键 词：球齿轮齿盘机构 运动学方程 PLC控制 ADAMS仿真 

分 类 号：TH132.41[机械工程—机械制造及自动化]