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4UPS-1U并联型光电设备稳定平台是针对光电跟踪系统需要而设计的一种新型并联机构,具有两个独立的转动自由度。以平台的任意UPS驱动分支为研究对象,分析了并联稳定平台的UPS驱动分支的运动情况,推导了UPS驱动分支各构件速度与动平台速度之间的关系。采用牛顿-欧拉法建立了并联稳定平台的动力学模型,进行了其运动控制仿真研究。仿真结果表明:该并联稳定平台能够补偿运动载体带来的纵横摇偏差,可以提供给光电设备工作时需要的绝对水平环境。
The 4UPS-1U parallel optoelectronic device stabilization platform is a new type of parallel mechanism designed for the needs of optoelectronic tracking systems, with two independent degree of freedom of rotation. Taking the arbitrary UPS drive branch of the platform as the research object, the movement of the UPS drive branch of the parallel stable platform is analyzed, and the relationship between the speed of each component of the UPS drive branch and the moving platform speed is deduced. The dynamic model of parallel stable platform was established by Newton-Euler method and its motion control simulation was carried out. The simulation results show that the parallel stable platform can compensate the vertical and horizontal deviation caused by the moving carrier and can provide the absolute horizontal environment required for the optoelectronic device to work.