一种基于多并联单元协同工作均载稳定平台的设计与分析

doi:10.3901/JME.2020.13.093

机械工程学报 ›› 2020, Vol. 56 ›› Issue (13): 93-102.doi: 10.3901/JME.2020.13.093

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一种基于多并联单元协同工作均载稳定平台的设计与分析

杜安, 郭盛, 陈亚琼

北京交通大学机器人研究中心北京 100044

收稿日期:2019-09-18 修回日期:2020-04-24 出版日期:2020-07-05 发布日期:2020-08-01
通讯作者: 郭盛(通信作者),男,1972年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学。E-mail:shguo@bjtu.edu.cn
作者简介:杜安,男,1995年出生。主要研究方向为机器人机构学。E-mail:17121288@bjtu.edu.cn;陈亚琼,男,1983年出生,博士,博士后。主要研究方向为机器人机构学。E-mail:chenyaqiong@bjtu.edu.cn
基金资助:
国家自然科学基金（51875033）和中央高校基本科研业务费专项资金（2018JBM031）资助项目。

Design and Analysis of a Load Balancing Stabilized Platform Based on Multi-parallel Units Cooperative Work

DU An, GUO Sheng, CHEN Yaqiong

Research Center of Robot, Beijing Jiaotong University, Beijing 100044

Received:2019-09-18 Revised:2020-04-24 Online:2020-07-05 Published:2020-08-01

摘要/Abstract

摘要： 以6-PUS并联机构为基本单元，设计一种多并联单元协同工作均载稳定平台。建立均载稳定平台在特定工程问题下的受力模型，并进行分析，证明利用均载稳定平台可以有效改善冲击力对系统的破坏。对于构成均载稳定平台的6-PUS并联单元，进行位置逆解的推导分析与仿真验证。运用旋量法对并联机构的运动学进行理论推导，并通过雅可比矩阵给出驱动的速度、驱动力与动平台的速度、外载力之间的映射关系。针对经过改良的新型刚柔混合6-PUS并联机构进行冲击力学响应分析，验证刚柔混合构造对于抵抗冲击力具有显著优势。最后，分析了均载稳定平台在存在外部干扰和力控制延迟时模型的有效性。

关键词: 并联机构, 均载稳定平台, 运动学, 旋量法, 刚柔混合结构

Abstract: A load balancing stabilized platform based on multi-parallel units cooperative work is designed with 6-PUS parallel mechanism as the basic unit. The force model of the load balancing stabilized platform under the specific engineering condition is established and analyzed to prove that the load balancing stabilized platform can effectively improve the damage of the impact force to the system. As to the 6-PUS parallel unit, the derivation analysis and simulation verification of the positional inverse solution are carried out. Meanwhile, the kinematics of the parallel mechanism is theoretically derived by the spin method, and the relationship of velocity and force among the drive member and the moving platform is given by the Jacobian matrix. Moreover, the impact force analysis of the improved rigid-flexible hybrid 6-PUS parallel mechanism is carried out to verify the significant advantages of the rigid-flexible hybrid structure in terms of resistance to impact. Finally, the validity of the model for the balancing stabilized platform is analyzed in dealing with some external disturbances and the control-delay problem of force.

Key words: parallel mechanism, load balancing stabilized platform, kinematics, spin method, rigid-flexible hybrid structure

中图分类号:

TH112

杜安, 郭盛, 陈亚琼. 一种基于多并联单元协同工作均载稳定平台的设计与分析[J]. 机械工程学报, 2020, 56(13): 93-102.

DU An, GUO Sheng, CHEN Yaqiong. Design and Analysis of a Load Balancing Stabilized Platform Based on Multi-parallel Units Cooperative Work[J]. Journal of Mechanical Engineering, 2020, 56(13): 93-102.

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一种基于多并联单元协同工作均载稳定平台的设计与分析

Design and Analysis of a Load Balancing Stabilized Platform Based on Multi-parallel Units Cooperative Work

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