耦合型3自由度并联稳定平台机构动力学分析

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Based on the coupling dynamics characteristics of ship motions, the influence produced by coupling force/torque to performance of mechanism dynamics and modeling of dynamics of 3-SRR/SRU 3-DOF coupling parallel mechanism is analyzed, each branch is even borne by using actuation redundancy, the goal of using less-axis drivers to compensate multi-axis motions of the moving platform is achieved. By using the method of equivalent transform of parameters of coupling dynamics, the coupling force / torque of platform and branch are described in inertial coordinate frame. By the target of minimum input power, combined with rate-of-virtual work form of D＇Alembert principle, the general equation of coupling dynamics is established. The numerical example shows that the coupling parallel mechanism with actuation redundancy is suitable for multi-axis compensation of stabilized platform. The index of dynamic performance of the system is also effectively improved. All these works lays a foundation to the further studies on the dynamics optimization and real-time control of the coupling parallel mechanism.基于舰船摇荡耦合动力学特征，分析耦合力／力矩对耦合型3-SRR／SRU3自由度并联稳定平台机构动力性能和动力学建模的影响，采用冗余驱动保证稳定平台各分支均匀承载，实现了稳定平台少驱动、多轴联动补偿外载荷的目标。提出耦合动力学参数等效变换方法，并分析动平台及运动分支耦合力／力矩在惯性坐标系中的表示；以系统驱动功率和最小为目标结合虚功率形式达朗贝尔原理，建立机构耦合动力学普遍方程。数值算例表明，采用冗余驱动的耦合型并联机构不仅实现了重载稳定平台多轴联动补偿的目标，而且有效地改善了系统动力学性能指标，为进一步研究耦合型并联机构动力学优化及实时控制奠定了基础。