基于4-PSE并联机构的地质沉积模拟平台运动学分析

Kinematics Analysis of Geological Sedimentation Simulation Platform Based on 4-PSE Parallel Mechanism

地质沉积模拟平台是定量研究地质沉积理论的重要装置。为满足沉积模拟大型化、精细化和定量化的研究需求,基于4-PSE并联机构设计一种可进行全方位调姿运动的地质沉积模拟平台,对其运动学特性进行研究。结合模拟平台的工作原理,对4-PSE并联机构的自由度进行计算,推导模拟平台的运动学方程。在ADAMS软件中建立模拟平台的虚拟样机模型,利用运动学仿真结果对其运动学参数进行理论验证。分析模拟平台的工作空间约束条件,求得其工作空间,绘制相关结构参数对工作空间的影响曲线。研究成果为后续地质沉积模拟平台的多块平台组合系统实验提供了理论基础。

The geological sedimentation simulation platform is an important device for quantitatively studying geological sedimentation theory.In order to meet the research needs of large-scale,refined,and quantitative sedimentation simulation,a geological sedimentation simulation platform that can perform all-round attitude adjustment motion based on a 4-PSE parallel mechanism was designed,and its kinematic characteristics were studied.Combined with the working principle of the simulation platform,the degrees of freedom of the 4-PSE parallel mechanism were calculated,and the Kinematics equations of the simulation platform were derived.The virtual prototype model of the simulation platform was established in ADAMS software,and its Kinematics parameters were theoretically verified using the Kinematics simulation results.The workspace constraints of the simulation platform was analyzed,its workspace was obtainecl,and the influence curve of relevant structural parameters on the workspace was drawn.The research results provide a theoretical basis for the structural design optimization of subsequent geological sedimentation simulation platforms and the combination of multiple platforms.