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

doi:10.3901/JME.2020.13.093

Abstract

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

CLC Number:

TH112

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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