关键词: 动力学模型, 耦合动力学特征, 耦合型并联机构, 冗余驱动

Abstract: 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.

Key words: Actuation redundancy, Coupling dynamics characteristics, Coupling parallel mechanism, Dynamics model