摘要
目的:为解决越野救护车和医院船在医疗运输过程中受外界环境干扰的问题,设计3-RPS并联稳定平台,并进行验证。方法:采用修正的G-K公式对3-RPS机构进行自由度分析,根据闭环矢量法对3-RPS机构进行位置和速度分析。通过蒙特卡罗法分析所设计的3-RPS并联稳定平台的机构参数对应的工作空间。在Simulink/Multibody中建立3-RPS并联稳定平台的简化物理模型,对物理模型及其运动学建模进行仿真验证。结果:3-RPS并联稳定平台单自由度转角能达到20°以上,垂直位移能达到70 mm;仿真分析表明,运动过程中电动缸位移曲线连续平稳,没有突变。结论:3-RPS并联稳定平台参数设计合理,可满足工作需要,为该机构的实际应用提供了参考。
Objective To design and validate a 3-RPS parallel stable platform to solve the problems of off-road ambulances and hospital ships due to environmental interference.Methods A modified G-K formula was used to analyze the degree of freedom of the 3-RPS parallel stable platform,and closed-loop vector method was applied to exploring its position and velocity.The workspace corresponding to the mechanism parameters of the designed 3-RPS parallel stable platform was analyzed by Monte Carlo method.A simplified physical model of the 3-RPS parallel stable platform was established in Simulink/Multibody and then simulation verification was carried out for the physical model and its kinematic modelling.Results The 3-RPS parallel stable platform designed had the workspace at one degree of freedom with over 20°and 70 mm vertical displacement;simulation analysis showed that the displacement curve of the electric cylinder was continuous and smooth without sudden changes during the movement.Conclusion The 3-RPS parallel stable platform designed has its parameters meet practical requirements,and references are provided for its application.
作者
赵万卓
谢英江
孙景工
孟令帅
牛福
ZHAO Wan-zhuo;XIE Ying-jiang;SUN Jing-gong;MENG Ling-shuai;NIU Fu(Academy of Systems Engineering of Academy of Military Science of Chinese PLA,Beijing 100166,China)
出处
《医疗卫生装备》
CAS
2021年第11期32-35,50,共5页
Chinese Medical Equipment Journal
关键词
3-RPS机构
并联稳定平台
运动学
仿真分析
隔振
3-RPS mechanism
parallel stable platform
kinematics
simulation analysis
vibration isolation
