一种(2SPU-1U)&1R少自由度帆船运动模拟平台的研究  

Research on a(2SPU-1U)&1R Sailing Simulation Platform with Less-Degrees-of-Freedom

作　　者：陈龙 梁辉[1,2] 盛尉航 杨琳 邓芳[1] 汪传生[1,2] CHEN Long;LIANG Hui;SHENG Weihang;YANG Lin;DENG Fang;WANG Chuansheng(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao 266061;National Engineering Research Center for Advanced Tire Equipment and Key Materials of Qingdao University of Science and Technology,Qingdao 266061;College of Physical Education,Qingdao University of Science and Technology,Qingdao 266061)

机构地区：[1]青岛科技大学机电工程学院,青岛266061 [2]青岛科技大学轮胎先进装备与关键材料国家工程研究中心,青岛266061 [3]青岛科技大学体育学院,青岛266061

出　　处：《舰船电子工程》2024年第5期88-93,共6页Ship Electronic Engineering

基　　金：国家自然科学基金项目(编号:52101401)资助。

摘　　要：针对现存多数单一自由度的帆船模拟运动平台,提出一种新型3-DOF的(2SPU-1U)&1R少自由度混联帆船运动模拟平台,该运动平台由一个2SPU-1U的并联机构和一个旋转副R串联构成,能够实现帆船的横摇、纵摇、艏摇三个自由度的运动模拟,同时该平台还可以应用到驾驶、飞行等模拟器场合。采用Grübler-Kutzbach公式计算出机构的自由度数目,建立了2SPU-1U并联机构的约束方程,并通过数值法求解出并联机构的位姿逆解,利用粒子群优化(PSO)算法分析并联机构的位姿正解。最后运用Solidworks和Adams软件进行联合建模仿真分析,验证了机构运行平稳,能够实现帆船横摇、纵摇和艏摇的运动模拟。Aiming at most existing single-degree-of-freedom sailing simulation platforms,a new 3-DOF(2SPU-1U)&1R less-degree-of-freedom hybrid sailing simulation platform is proposed,which consists of a 2SPU-1U parallel mechanism and a ro⁃tary auxiliary R series structure,which can realize the motion simulation of the three degrees of freedom of the sailing ship,such as rolling,pitching and yaw.At the same time,the platform can also be applied to driving,flying and other simulator occasions.The Gr übler-Kutzbach formula is used to calculate the number of degrees of freedom of the mechanism,the constraint equation of the 2SPU-1U parallel mechanism is established,and the inverse solution of the pose of the parallel mechanism is solved by the numeri⁃cal method,and the particle swarm optimization(PSO)algorithm is used to analyze the parallel mechanism positive solution of pose.Finally,through using Solidworks and Adams software for joint modeling and simulation analysis,it is verified that the mecha⁃nism runs smoothly and can realize the motion simulation of sailboat roll,pitch and yaw.

关 键 词：2SPU-1U 少自由度 混联机构 ADAMS仿真 

分 类 号：TH112[机械工程—机械设计及理论]