大型舰载稳定平台机构及优化设计

doi:10.3724/SP.J.1218.2013.00339

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引用本文:
刘晓, 赵铁石, 边辉, 李二伟. 大型舰载稳定平台机构及优化设计[J]. 机器人, 2013, 35(3): 339-345.DOI: 10.3724/SP.J.1218.2013.00339. LIU Xiao, ZHAO Tieshi, BIAN Hui, LI Erwei. Optimization Design of a Large-scale Mechanism for Ship-Based Stabilizing Platform. ROBOT, 2013, 35(3): 339-345. DOI: 10.3724/SP.J.1218.2013.00339.

摘要

舰船的摇摆运动给舰载直升机起降安全带来严重影响，面对现有并联机构中难以找到既能够承受重载，又同时具有较大工作空间的构型等难题，提出一种大型舰载稳定平台机构作为舰载机助降装置．基于机构运动学模型，提出一种适用于大型并联机构的轴线优化理论，利用该方法对以导轨轴线布置为设计变量、以驱动器运动指标（位移、速度、加速度等）为目标的多目标优化问题进行仿真优化研究；以等效变换支撑杆运动为基础，对机构转动副轴线及转角进行优化设计．数值算例表明：本文提出的轴线优化理论能够有效地改善起降平台运动性能，为大型舰载稳定平台构型综合及加工制造提供理论依据．

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关键词 ：舰载稳定平台, 大型并联机构, 轴线优化设计

Abstract：

The safety of take-off and landing of ship-based helicopter is seriously affected by ship swaying motions. Unfortunately, it's difficult to find a mechanism in existing parallel mechanisms, which not only can bear heavy load but also has large workspace. In order to assist helicopter landing safely, a large-scale mechanism for ship-based stabilizing platform is presented. Based on kinematics model, a theory of axis optimization is presented for the large-scale parallel mechanism. The method is applied to multi-objective optimization design of guideway axis arrangement, where the actuators' performance indices such as displacement, velocity, and acceleration are chosen as objective functions. Based on equivalent transformation of supporting rod’s motion, the axis and angles of the revolute joints are optimized. The numerical examples show that the kinematics performance of the platform is effectively improved by the theory of axis optimization, and the theoretical basis is provided for mechanism synthesis and manufacturing of the large-scale ship-based stabilizing platform.

Key words： ship-based stabilizing platform large-scale parallel mechanism axis optimization design

收稿日期: 2012-08-14 录用日期: 2012-03-17

TP24

基金资助:

国家自然科学基金资助项目（50975244）；河北省科技计划资助项目（11215636）

通讯作者: 赵铁石，tszhao@ysu.edu.cn E-mail: tszhao@ysu.edu.cn

作者简介: 刘晓（1986-），男，博士生．研究领域：并联机器人理论及应用，并联装备．
赵铁石（1963-），男，博士，教授，博士生导师．研究领域：并联机器人，机电一体化，并联装备．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00339 或 https://robot.sia.cn/CN/Y2013/V35/I3/339

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