重载六自由度混联调姿平台设计与仿真

Designing and Simulating Heavy-load 6-DOF Hybrid Mechanism Pose Adjustment Platform

为保证重型装备模块间的接口组对,针对低速重载且对接安装位置低的特殊工况,设计了一种结构紧凑且能实现六自由度运动的混联机构调姿平台。对调姿平台的运动机构和整体结构进行了设计,提出了一种由空间机构与平面机构相结合的六自由度混联调姿平台;基于坐标变换理论进行运动学分析,建立出空间姿态变化与液压缸活塞杆运动关系的反解数学模型;利用MATLAB/Simulink建立反解理论模型,同时基于SimMechanics搭建参数化虚拟样机模型并与Simulink进行联合仿真。结果验证了运动学模型的正确性与运动机构的可行性。

In order to ensure the interface pairing between heavy equipment modules,a hybrid mechanism pose adjustment platform with compact structure and 6-DOF(six degrees of freedom)motion is designed for the special working conditions of low-speed,heavy-load and low-docking installation position.Firstly,the kinematic mechanism and overall structure of the pose adjustment platform are designed,and a 6-DOF pose adjustment platform combining the space mechanism and the plane mechanism is proposed.Secondly,based on the coordinate transformation theory,the kinematics analysis is carried out,and the inverse solution mathematical model of the relationship between the spatial pose change and the movement of the piston rod of the hydraulic cylinder is established.Finally,the inverse solution theoretical model is established with the MATLAB/Simulink,and the parameterized virtual prototype model is built based on SimMechanics,which co-simulates with Simulink.The simulation results verify the correctness of the kinematic model and the feasibility of the kinematic mechanism.