一种新型稳定平台的运动学和工作空间分析

Kinematic analysis and workspace analysis of a new stable platform

针对某些精密设备在运输过程中的颠簸、倾斜等问题,设计了一种采用液压缸驱动方式的水平稳定平台,并对该平台进行了结构、运动学分析,计算出了机构运动的自由度,建立了运动学数学模型,使用Matlab软件对机构进行了仿真计算,为伺服液压缸的设计计算提供了依据。通过对工作空间的分析,得出了稳定平台的工作空间范围。仿真结果表明,该稳定平台不存在干涉现象。

To solve the problem of bumping and tilting in trasportation of precision equipment a hydraulic cylinder drive with a level stable platform is designed. Structural and kinematic analysis of the platform is made to calculate the kinematics degrees of freedom and build up kinematics model. By using the Matlab software, simulation of the bodies is obtained and design and calculation basis of offered servo hydraulic cylinders. The scope of work space of with a stable the platform is gained and the simulation results are analyzed.