基于有限阶积分法的球面光电稳定平台机构运动特性分析  

Kinematics characteristic analysis of spherical photoelectric stabilized platform mechanism based on finite-step-integration method

作　　者：韩博[1,2] 贾子钊 江源 李少哲 姚建涛[1,2] 赵永生[1,2] HAN Bo;JIA Zizhao;JIANG Yuan;LI Shaozhe;YAO Jiantao;ZHAO Yongsheng(Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University),Ministry of Education of China,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004

出　　处：《燕山大学学报》2023年第5期390-397,共8页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(52105035);河北省自然科学基金资助项目(E2021203109);河北省科学技术研究与发展计划项目(206Z1805G);机器人技术与系统国家重点实验室开放研究项目(SKLRS-2021-KF-15)。

摘　　要：为了实现球面光电稳定平台连续性运动控制,基于有限阶积分法对稳定平台进行了运动学分析。将稳定平台机构运动过程进行了阶段化和线性化处理,机构连续运动被转化为有限个微小运动的集合,对所有微小运动的共性进行了分析,构造了具有迭代参数的约束系统。建立了稳定平台约束系统方程,对其进行了正运动学求解,并在ADAMS软件中进行了运动学建模与仿真验证。分析了不同运算阶数下应用有限阶积分法进行正运动学求解的误差,并对稳定平台进行了工作空间求解与奇异性分析,结果表明该稳定平台的工作空间满足要求,并且在工作空间内不存在奇异位点。本文的研究对此类并联机构的运动学特性分析有着较好的参考意义。In order to realize the continuous motion control of spherical optoelectronic stabilized platform,the kinematics of the stabilized platform was analyzed based on finite-step-integration method.The motion process of the stabilized platform mechanism was phased and linearized,and the continuous motion of the mechanism was transformed into a finite set of small motions.The commonalities of all small motions were analyzed,and a constraint system with iterative parameters was constructed.The equations of the constraint system of the stabilized platform are established,and its forward kinematics is solved.The kinematics modeling and simulation verification are carried out in ADAMS software.The error of forward kinematics solution with finite-step-integration method under different operation orders is analyzed,and the workspace solution and singularity analysis of the stabilized platform are carried out.The results show that the workspace of the stabilized platform meets the requirements,and there is no singular point in the workspace.The research in this paper has a good reference significance for the analysis of kinematics characteristics of this kind of parallel mechanism.

关 键 词：球面光电稳定平台 有限阶积分法 运动特性 工作空间 

分 类 号：TM74[电气工程—电力系统及自动化]