基于2R型并联舰载稳定平台的运动学及静力学  

Research on Kinematics and Statics Based on Type 2R Parallel Shipborne Stabilization Platform

作　　者：董睿 鸦婧 俞竹青[1] DONG Rui;YA Jing;YU Zhuqing(School of machinery and rail transit,Changzhou University,Changzhou Jiangsu 213100,China)

机构地区：[1]常州大学机械与轨道交通学院,江苏常州213100

出　　处：《机械设计与研究》2023年第2期70-74,共5页Machine Design And Research

摘　　要：针对稳定平台行业所短缺的两旋转自由度稳定平台,提出了2R型并联机构的稳定平台。此平台可产生绕X轴和Y轴的旋转以抵消在这两轴所产生的转动。此机构由一个固定杆,一个RPS型驱动支链和一个SPS型驱动支链构成。构造2R并联机构模型,对其进行位姿逆解,得出驱动杆与动平台位姿的关系。接着通过位姿逆解得出的结果,在Matlab平台由算法得出动平台的活动空间,并验证位姿逆解的正确性。通过静力学分析求得出各杆件所能承受的力与位姿之间的关系。接着在Matlab平台通过搜索算法求得各杆在活动空间内的最大承受力。结果表明此机构能够既精确又可靠的完成两自由的转动,可以成功完成规定的任务,抵消X,Y轴两方向的绕动。Aiming at the dual rotation stabilized platform,which is in short supply in the stabilized plaform industry,a stabilized platform of a type 2R parallel mechanism is proposed.The platform can generate rotation around the X-and Y-axes to offset the rotation generated in these two axes.The mechanism consists of a fixed rod,an RPS type drive branch chain and an SPS type drive branch chain.Based on the model of 2R parallel mechanism,the inverse solution of its pose is carried out to obtain the relation between the driving rod and the pose of the moving platform.Then,based on the results of the inverse pose solution,the active space of the platform is obtained by the algorithm in MATLAB platform,and the correctness of the inverse pose solution is verified.The relation between the bearing force and the position and pose of each bar is obtained through statics analysis.Then the maximum bearing force of each bar in the moving space is obtained by a searching algorithm in MATLAB platform.The results show that the mechanism can accurately and reliably complete the two free rotations,successfully complete the specified task,and offset the X-axis and Y-axis rotations.

关 键 词：并联机构 稳定平台 位置逆解 静力学分析 

分 类 号：TH112[机械工程—机械设计及理论]