多并联机构均载稳定平台地面适应性研究

Ground Adaptability of Multi-parallel Mechanisms with Load-balanced Stable Platform

以多并联机构均载稳定平台为研究对象,进行多并联机构对软质地面的运动学和力学适应研究。给出软质不规则地面的道路化处理模型,利用地面函数进行预调整姿态角的理论推导。针对并联单元的运动学适应,运用并联机构理论对其进行运动学分析,并进行多并联单元整体的系统建模。针对并联单元对软质地面的力学适应问题,给出土壤受压模型假设,对力反馈补偿姿态角进行理论推导分析,给出地面适应力学判定条件,并推导出并联单元最大负载受力与地面沉陷深度之间的关系。同时,对并联单元进行静力学分析,给出并联单元负载分配系数的计算方法。最后,对多并联机构均载稳定平台系统进行运动适应性仿真和负载分配系数的计算。

The kinematics and mechanical adaptation of the multi-parallel mechanism to soft ground are studied based on the multi-parallel mechanism with load-balanced stable platform.The roadization processing model of soft irregular ground is given,and the theoretical derivation of the pre-adjusted attitude angle is given by the ground function.As to the kinematics adaptation of the parallel mechanism,the kinematics analysis of the parallel mechanism is performed by the theory of the parallel mechanism,and the overall model of multi-parallel mechanisms is established.As to the research of the mechanical adaptation of parallel mechanism to soft ground,a hypothesis of soil compression model is given,and the theoretical analysis of the compensated attitude angle of force feedback is given.The determination conditions of ground adaptation mechanics are given,and the relationship between the maximum load force of the parallel mechanism and the ground subsidence depth is derived.At the same time,the static analysis of the parallel mechanism is performed,and the calculation method of the load distribution coefficient of the parallel mechanism is given.Finally,the kinematic adaptive simulation and calculation of the load distribution coefficient of Multi-parallel mechanisms with load-balanced stable platform system are given.