Ground Adaptability of Multi-parallel Mechanisms with Load-balanced Stable Platform

doi:10.3901/JME.2021.05.040

Abstract

Abstract: The kinematics and mechanical adaptation of the multi-parallel mechanism to soft ground are studied based on the multi-parallel mechanism with load-balanced stable platform. The roadization processing model of soft irregular ground is given, and the theoretical derivation of the pre-adjusted attitude angle is given by the ground function. As to the kinematics adaptation of the parallel mechanism, the kinematics analysis of the parallel mechanism is performed by the theory of the parallel mechanism, and the overall model of multi-parallel mechanisms is established. As to the research of the mechanical adaptation of parallel mechanism to soft ground, a hypothesis of soil compression model is given, and the theoretical analysis of the compensated attitude angle of force feedback is given. The determination conditions of ground adaptation mechanics are given, and the relationship between the maximum load force of the parallel mechanism and the ground subsidence depth is derived. At the same time, the static analysis of the parallel mechanism is performed, and the calculation method of the load distribution coefficient of the parallel mechanism is given. Finally, the kinematic adaptive simulation and calculation of the load distribution coefficient of Multi-parallel mechanisms with load-balanced stable platform system are given.

Key words: parallel mechanism, ground adaptability, kinematics, statics

CLC Number:

TH112

DU An, GUO Sheng, CHEN Yaqiong. Ground Adaptability of Multi-parallel Mechanisms with Load-balanced Stable Platform[J]. Journal of Mechanical Engineering, 2021, 57(5): 40-51.

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