一种解耦式三自由度混联转台的转动特性分析

Analysis on the rotation characteristics of a decoupled three-DOF hybrid rotary platform

提出一种新型三自由度混联转动平台机构,该转动平台相对于机架具有3个纯转动自由度,能够实现平台横摇、纵摇和回转运动;回转运动的驱动装置布置于机架上,通过回转支链传递回转运动,提高平台承载能力的同时增大了回转范围;选择恰当的欧拉角描述动平台姿态,获得了欧拉角与分支输入位移之间的解析关系,并对其转动特性进行了分析,结果表明XYZ姿态描述欧拉角与该机构真实转角之间具有简单直观的对应关系,达到了姿态描述解耦的目的,最后通过软件仿真验证了理论分析的正确性;该新型三自由度混联转动平台承载能力高、回转范围大,在方位跟踪、运动模拟等领域具有广泛的应用。

In this article,a brand-new three-DOF hybrid rotary platform is presented;the rotary platform relative to the fixed platform has three pure rotational DOF,which can realize such motions as yawing,pitching and rolling of the platform. The drive device of rolling motion is laid over the rack,and the rolling motion is transferred by the rotary chain,thus improving the carrying capacity and expanding the range of rolling motion. The appropriate method of Euler Angle adopted to describe the orientation of moving platform;the analytical relation between the Euler Angle and the displacement of each branch input is obtained,and the analysis is conducted on its rotation characteristics. The results show that the relationship between the XYZ Euler Angle and the real angle of the mechanism has a corresponding relationship which is simple and intuitive,and the decoupling of attitude description is achieved. Finally,the correctness of theoretical analysis is verified by means of software simulation. This new-type three-DOF hybrid rotary platform,boasting its strong carrying capacity and large rolling range,has been applied in many areas,such as location tracking,motion simulation,and so on.