S-RPS-SPS并联机构稳定平台的运动学分析

Kinematic Analysis of the Stable Platform of the S-RPS-SPS Parallel Mechanism

舰船在海上会受到海浪、海风以及气流等环境影响,从而导致原本需要在稳定环境下工作的器材受到严重干扰,如起吊平台、雷达信号捕捉等。针对以上问题,提出了S-RPS-SPS并联机构稳定平台,该平台可以实现绕X轴横滚角的旋转以及绕Y轴俯仰角的旋转,从而间接消除船体在这两轴上的转动。在SolidWorks软件中建立该并联机构的模型并验证了自由度;选择位姿逆解的方法计算出两条驱动杆长度与动平台位姿角度之间的关系式,在该机构的动平台旋转角度和驱动杆伸缩长度范围内输入不同的角度,得到两组数据,对比了其误差;把计算公式、旋转角度范围以及坐标在Matlab软件中通过算法进行仿真,验证了动平台位姿的准确性。仿真结果表明,该机构在运动学方面的精度和可靠性都得到了很好的保证。

Considering the fact that ships at sea will be affected by waves,sea breeze and air currents,which usually results in serious interference of equipment that needs to work in a stable environment,such as lifting platforms,radar signal capture,etc.In response to the above problems,the S-RPS-SPS parallel mechanism is established to stabilize the platform.It can realize the roll angle of the rotation around the X axis and the pitch angle of rotation around the Y axis;it can also indirectly eliminate the rotation of the hull on these two axes.Model this parallel mechanism in Solidworks software and verify the degrees of freedom.The relation between the length of two driving rods and the pose angle of the moving platform is calculated by the method of inverse pose solution.Two sets of data are obtained by inputting different angles in the range of the rotating angle of the moving platform and the expansion length of the driving rod.The calculation formula,rotation angle range and coordinates are simulated by algorithms in Matlab software,and the correctness of the moving platform pose is verified.The simulation results show that the accuracy and reliability of this mechanism in terms of kinematics are well guaranteed.