耦合型3自由度并联稳定平台机构及其运动特征

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罗二娟, 牟德君, 刘晓, 赵铁石. 耦合型3自由度并联稳定平台机构及其运动特征[J]. 机器人, 2010, 32(5): 681-687,694.. LUO Erjuan, MU Dejun, LIU Xiao, ZHAO Tieshi. A 3-DOF Coupling Parallel Mechanism for Stabilized Platform and Its Motion Characteristics. ROBOT, 2010, 32(5): 681-687,694..

摘要基于舰船摇荡运动的耦合特征，采用耦合型3-SRR/SRU 3自由度并联机构作为舰载稳定平台机构，实现了稳定平台三轴驱动、动平台五轴联动补偿的目标．运用螺旋理论分析了机构的自由度和运动特征，并讨论了输入关节选取的合理性；采用坐标等效运动的方法，建立机构耦合运动约束方程，得到了位置解及工作空间．本文将耦合型3-SRR/SRU 3自由度并联机构用于舰载稳定平台五轴联动补偿，拓展了少自由度并联机构的应用领域．

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	罗二娟
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关键词 ：耦合型并联机构, 运动特征, 运动方程, 工作空间

Abstract：Based on the coupling characteristics of ship rolling motions,a 3-SRR/SRU 3-DOF coupling parallel mechanism is used as ship-based stabilized platform to achieve the goal of using three-axis drivers of stabilized platform to compensate five-axis motions of the moving platform.Degrees-of-freedom and the motion characteristics of the mechanism are analyzed based on screw theory,and the rationality of input joints choosing is discussed.By using the method of equivalent motion of coordinate,coupling motion constraint equations of the mechanism are established,and position solution and workspace are given.In this paper,3-SRR/SRU 3-DOF coupling parallel mechanism is used for five-axis compensation of the ship-based stabilized platform,which enriches the application area of lower-mobility parallel mechanism.

Key words： coupling parallel mechanism motion characteristics motion equation workspace

收稿日期: 2009-11-09 录用日期: 2010-04-27

TP24

基金资助:国家自然科学基金资助项目（50975244，50675191）；国家博士后科学基金资助项目（20090450011）

通讯作者: 赵铁石 E-mail: tszhao@ysu.edu.cn

作者简介: 罗二娟（1984- ），女，硕士生．研究领域：并联机器人理论与应用．
牟德君（（1967- ），女，副教授，硕士生导师．研究领域：并联机器人理论与应用，机电- 体化．
刘晓（1986- ），男，硕士生．研究领域：并联机器人理论与应用，光机电- 体化应用技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I5/681

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