论文部分内容阅读
基于车辆六维扰动间的耦合运动特征,给出了车用稳定平台构型综合原则及方法,可实现机构少输入、动平台多轴稳定的目标。应用螺旋理论综合了一类具有耦合特征的三自由度并联机构,并提出了几种具有实际应用价值的新机型。以其中的一种构型为例,分析了机构的运动特性,并建立了其耦合运动约束方程,在此基础上提出了表征这种特性的耦合度评价指标,并给出了数值算例。文章基于车用稳定平台应用需求,将耦合型少自由度并联机构用于稳定平台多轴联动补偿,为稳定平台机型设计与分析提供了一种新思路。
Based on the coupled motion characteristics of six-dimensional vehicle disturbance, the integrated principle and method of vehicle stable platform configuration are given, which can achieve the goal of multi-axis stability with less input and moving platform. Based on the theory of helix, a class of three degrees of freedom parallel mechanism with coupling features is synthesized, and several new models with practical application are proposed. Taking one of the configurations as an example, the kinematic characteristics of the mechanism are analyzed and the coupled motion constraint equations are established. Based on the analysis, the evaluation index of the coupling degree that characterizes this kind of characteristic is proposed, and numerical examples are given. Based on the application requirements of the vehicle stabilization platform, the paper uses the coupling-typedOFOF parallel mechanism for the multi-axis compensation of the stability platform, which provides a new idea for the design and analysis of the stable platform model.