基于4-SPS(PS)并联机构的自动调平系统研究
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摘要
为了提高自动调平系统在运用过程中的调平精度和响应速度,基于螺旋理论及反螺旋理论,提出了一种以4-SPS(PS)并联机构作为自动调平系统支撑机构的方案,并对机构的正/反解和Jacobian矩阵进行了探讨。基于并联机构运动特性,建立了机构的理论参考模型,并运用MATLAB/SimMechanics软件建立了机构的实验仿真模型,采用模拟调平信号输入对所建立的自动调平并联支撑机构进行了开环仿真研究,验证了该机构的有效性。
In order to improve the accuracy and response speed of the automatic leveling system,a 4-SPS( PS) parallel mechanism based on screw and anti-screw theory,which is taken as the support mechanism for automatic leveling system,is proposed. Then the positive / inverse solution and Jacobian matrix of mechanism are discussed.Based on the kinematic characteristics of parallel mechanism,a theoretical model of the mechanism is established.At the same time,the experimental simulation model of the mechanism is presented by using MATLAB / Sim Mechanics software. The open loop simulation for the automatic leveling system is carried out by inputting analog signal,thus the effectiveness of the mechanism is verified.
In order to improve the accuracy and response speed of the automatic leveling system,a 4-SPS( PS) parallel mechanism based on screw and anti-screw theory,which is taken as the support mechanism for automatic leveling system,is proposed. Then the positive / inverse solution and Jacobian matrix of mechanism are discussed.Based on the kinematic characteristics of parallel mechanism,a theoretical model of the mechanism is established.At the same time,the experimental simulation model of the mechanism is presented by using MATLAB / Sim Mechanics software. The open loop simulation for the automatic leveling system is carried out by inputting analog signal,thus the effectiveness of the mechanism is verified.
引文
[1]周春燕.基于PLC的自动调平控制系统研制[D].西安:西安电子科技大学,2010.ZHOU Chunyan.The Development and Design of Automatic Leveling Control System Based on PLC[D].Xi'an:Xidian University,2010.
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[4]陆作其.车载雷达车座平台自动调平系统的设计与实现[D].镇江:江苏大学,2009.LU Zuoqi.Design and Implementation of the Automatic Leveling System of the Rader Platform[D].Zhenjiang:Jiangsu University,2009.
[5]盛英,仇原鹰.6腿支撑液压式平台自动调平算法[J].西安电子科技大学学报(自然科学版),2002,29(5):593-597.SHENG Ying,QIU Yuanying.An Automatic Adjusting Algorithm for the Hydraulic Platform with Six Legs[J].Journal of Xidian University(Natural Science Edition),2002,29(5):593-597.
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[7]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.HUANG Zhen,ZHAO Yongsheng,ZHAO Tieshi.Higher Spatial Mechanism[M].Beijing:Higher Education Press,2006.
[8]D Stewart.A Platform with Six Degrees of Freedom[J].Proceeding of the Institute of Mechanical Engineering,1965,180(5):371-386.
[9]刘剑敏,马履中.空间四自由度并联机器人的智能化型综合[J].机械设计与制造,2008,(6):160-162.LIU Jianmin,MA Lvzhong.Intelligent Structural Synthesis Study on Four-Degree Space Parallel Robot Mechanism[J].Mechanery Design and Manufacture,2008,(6):160-162.
[10]Su Y X,Duan B Y,Zheng C H.Genetic Design of Kinematically Optimal Fine Tuning Stewart Platform for Large Spherical Radio Telescope.Mechatronics,2001(11),821-835.
[11]耿记波,高云国,吴延巽.大型光电设备动基座自动支撑调平方法及结构[J].工程设计学报,2007,14(5):383-387.GENG Jibo,GAO Yunguo,WU Yanxun.Study on Method and Configuration for Automatic Supporting and Leveling of Big-scale Photoelectric Equipment's Moved-groundwork[J].Journal of Engineering Design,2007,14(5):383-387.
[2]倪江生,翟羽健.六点支撑静基座液压平台的调平方法[J].东南大学学报,1996,26(2):74-80.NI Jiangsheng,ZHAI Yujian.The Leveling Method of Six Point Support for Hydrostatic Platform[J].Journal of Southeast University,1996,26(2):74-80.
[3]胡苏杭.车载雷达天线自动调平控制模型的建立及系统仿真[D].镇江:江苏大学,2007.HU Suhang.Auto-Leveling Controller Model's Foundation and Its Computer Simulation of Tube-fin Automobile Intercooler with Offset Fins Inner the Tubes[D].Zhenjiang:Jiangsu University,2007.
[4]陆作其.车载雷达车座平台自动调平系统的设计与实现[D].镇江:江苏大学,2009.LU Zuoqi.Design and Implementation of the Automatic Leveling System of the Rader Platform[D].Zhenjiang:Jiangsu University,2009.
[5]盛英,仇原鹰.6腿支撑液压式平台自动调平算法[J].西安电子科技大学学报(自然科学版),2002,29(5):593-597.SHENG Ying,QIU Yuanying.An Automatic Adjusting Algorithm for the Hydraulic Platform with Six Legs[J].Journal of Xidian University(Natural Science Edition),2002,29(5):593-597.
[6]肖藩.基于三自由度并联支撑机构的自动调平系统的研究[D].赣州:江西理工大学,2012.XIAO Fan.Study on Automatic Leveling System Based on 3-DOF Parallel Support Mechanism[D].Ganzhou:Jiangxi University of Science and Technology,2012.
[7]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.HUANG Zhen,ZHAO Yongsheng,ZHAO Tieshi.Higher Spatial Mechanism[M].Beijing:Higher Education Press,2006.
[8]D Stewart.A Platform with Six Degrees of Freedom[J].Proceeding of the Institute of Mechanical Engineering,1965,180(5):371-386.
[9]刘剑敏,马履中.空间四自由度并联机器人的智能化型综合[J].机械设计与制造,2008,(6):160-162.LIU Jianmin,MA Lvzhong.Intelligent Structural Synthesis Study on Four-Degree Space Parallel Robot Mechanism[J].Mechanery Design and Manufacture,2008,(6):160-162.
[10]Su Y X,Duan B Y,Zheng C H.Genetic Design of Kinematically Optimal Fine Tuning Stewart Platform for Large Spherical Radio Telescope.Mechatronics,2001(11),821-835.
[11]耿记波,高云国,吴延巽.大型光电设备动基座自动支撑调平方法及结构[J].工程设计学报,2007,14(5):383-387.GENG Jibo,GAO Yunguo,WU Yanxun.Study on Method and Configuration for Automatic Supporting and Leveling of Big-scale Photoelectric Equipment's Moved-groundwork[J].Journal of Engineering Design,2007,14(5):383-387.