摘要
耦合性是并联机构的一个特点,如果使并联机构运动解耦,将促进并联机构的实际应用。提出一种1T2R少自由度舰载稳定平台结构——2PUPS(PU),并利用机构拓扑理论分析该平台的自由度,采用解析法分析稳定平台的正逆解。利用ADAMS软件对该平台进行仿真,验证了该平台的约束方程的解耦性。
Coupling is a characteristic of parallel mechanism. The motion decoupling of parallel mechanism promotes the practical application of parallel mechanism. A stable platform for ship with the structure of 1T2R---2PUPS （PU） for ship is proposed, anti the degree of freedom （DOF） of the platform is analyzed by the theory of mechanism topology, and the kinematics inverse solutions and the kinematics forward solutions of the platform are analyzed by the analytical method. ADAMS software is used to simulate the motion of this platform, and certifies the decoupling of constraint equation of the platform.
出处
《现代工业经济和信息化》
2017年第7期86-90,共5页
Modern Industrial Economy and Informationization
