双向匀速摆动光学平台的运动规划与虚拟仿真

Motion Planning and Virtual Simulation of a Bidirectional Rocking Optical Platform with Constant Velocity

根据设计要求先对输出摇杆进行了运动规划以得到理想的角速度曲线,利用运动学反求法得到输入曲柄的运动规律;再在ADAMS中对该机构进行了虚拟样机仿真,驱动曲柄按照得到的伺服输入运动规律转动,得到了摇杆的实际输出角速度曲线;经误差分析,结果表明,所设计的曲柄摇杆机构满足光学平台的双向匀速摆动输出要求。

A crank - rocker mechanism is designed for a rocking optical platform with a bidirectional constant velocity, the crank is driven by the servo electromotor and the output motion can be gained to satisfy the design requirements. Firstly, the output of the rocker is kinematically planned according to the design requirements and the ideal angular velocity curve of the rocker is obtained. The corresponding angular velocity curve of the crank is obtained according to the kinematical reverse method. This mechanism is modeled based on virtual prototype using the ADAMS. The crank is driven by the derived curve, and the actual angular velocity curve of the rocker is obtained. It can be found that the crank- rocker mechanism can satisfy the design requirements of the optical platform through the error analysis.