摘要
现有的稳定平台基本上都是串联结构,由于其结构特点是本体过重和驱动力小,使得其在大负载场合的应用存在难于控制的问题.针对这一问题,研制了一种新型的并串联3自由度稳定平台,该稳定平台由2自由度球面并联机构和串联在其上的旋转工作台构成.以刚体空间运动学为基础,借助欧拉角法与向量法建立了3自由稳定平台机构的运动学模型,根据模型详细分析并推导稳定平台输入与输出的特点和范围;设计了3自由度稳定平台实验装置,将实验结果与理论计算进行对比.结果表明,所建立的并串联3自由度稳定平台运动学模型准确有效.
The existing studies were aimed at stabilized platform with series structure, which existed problem that application of large load situations were platform body overweight, small driving force, con- trol difficult. A novel model of constrained 3-DOF（degree of freedom） parallel-series hybrid platform mechanism was introduced. This stabilized platform, which consisted of a 2-DOF spherical parallel mecha- nism and a rotational degree connecting in series to the platform of the 2-DOF mechanism, had 3 rotation freedoms. Based on the spatial kinematics analysis, a kinematic model of two degree of freedom spherical fixed point five bar mechanism driven by parallel four bar linkage was set up by means of Euler angle and spherical analytic geometry. The measured results and theoretical results had good consistency, and the correctness of the theoretical model is verified. It will enrich the application area of parallel mechallism.
出处
《河北大学学报（自然科学版）》
CAS
北大核心
2013年第3期324-328,共5页
Journal of Hebei University(Natural Science Edition)
基金
国家自然科学基金资助项目(61074175)
河北省自然科学基金资助项目(F2011201159)
保定市科学技术研究与发展指导计划项目(12ZG020)
关键词
并串联机构
运动学
欧拉角
球面
parallel-series mechanism
kinematics
Euler anglel spherical
