两自由度无角位移减振机构运动学建模和分析

Kinematics Modeling and Simulation of Irrotational Displacement Isolator with Two DOF

在光电成像系统中,振动影响系统的成像质量,其中角位移尤为严重。为了减小振动对系统成像质量的影响,应用空间机构学原理和减振理论设计由基座平台、运动平台、空间连杆机构和减振元件组成的减振机构。在减振机构中,利用矢量法和坐标变换对空间连杆机构进行数学建模,推导出减振机构的运动学模型。在运动学模型的基础上,对减振机构的两种模型进行仿真、分析其运动特性,结果表明该机构可以有效的隔离振动、抑制角位移,对系统成像质量的提高具有重要的意义。

In the optoelectronic system, the image quality is affected by the vibration, especially the angle displacement. In order to reduce the influence of the vibration on image quality, an irrotational displacement isolator is designed based on spatial mechanism and vibration theory, which mainly consists of base platform, moving platform, spatial linkage mechanism and vibration isolators. The mathematical model is formulated by the way of vector and coordinate transformation in the linkage mechanism so as to derive kinematics modeling of irrotational displacement isolator. Based on kinematics modeling, two models aiming at irrotational displacement isolator are simulated and analyzed. The result shows that the framework effectively isolates the vibration, restrains angle displacement and plays important role in improving the image quality.