摘要
并联平台因为其良好的控制性能、不受工作环境制约和体积小等优点,在各领域中得到了广泛的应用。根据实际需求,设计了应用于船舶的一种三自由度并联平台。此平台包含横摇、纵摇及升沉三个自由度,在船舶摇摆和升沉运动的情况下为光学负载提供一个稳定的水平工作平台。建立了稳定平台的运动学方程,并通过正逆运动学,研究机构的工作空间和运动参数。完成了电动推杆运动和平台升沉旋转的关系,并解耦三个电动推杆对平台角度的影响。
The parallel platform has been widely applied in various fields because of its good control performance,unrestricted working environment and small volume. According to actual demand,a three degree of freedom parallel platform applied to ship is designed in this paper. The platform includes three degree of freedom： rolling,pitching and heaving,and provides a stable horizontal working platform for the optical load when the ship swings and heaves. The kinematic equation of the stabilized platform is established,and the workspace and motion parameters of the mechanism are studied by means of forward and inverse kinematics. The relationship between electric putter movement and platform heave rotation is obtained.
作者
卢今伟
张雷
苏东风
LU Jinwei;ZHANG Lei;SU Dongfeng
出处
《现代机械》
2018年第4期55-59,共5页
Modern Machinery
关键词
并联平台
运动学
少自由度
三自由度
parallel platform
kinematics
low - DOF
three degree of freedom
