考虑铰链间隙的水面并联稳定平台动力学分析

doi:10.3969/j.issn.1000-1093.2017.01.017

兵工学报 ›› 2017, Vol. 38 ›› Issue (1): 129-134.doi: 10.3969/j.issn.1000-1093.2017.01.017

考虑铰链间隙的水面并联稳定平台动力学分析

李豪杰¹，张合¹，李珂翔²，谢克峰¹

（1.南京理工大学智能弹药技术国防重点学科实验室，江苏南京 210094； 2.中国船舶重工集团公司第724研究所，江苏南京 210003）

收稿日期:2016-04-07 修回日期:2016-04-07 上线日期:2017-03-03
作者简介:李豪杰(1973—)，男，副教授，硕士生导师。E-mail:haojieli@njust.edu.cn
基金资助:
国家自然科学基金项目（51475243）

Dynamic Analysis of Offshore Parallel Stabilized Platform in Considering Joint Clearance

LI Hao-jie¹, ZHANG He¹, LI Ke-xiang², XIE Ke-feng¹

(1.Ministerial Key Laboratory of ZNDY, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China；2.No.724 Research Institute, China Shipbuilding Industry Corporation, Nanjing 210003, Jiangsu, China)

Received:2016-04-07 Revised:2016-04-07 Online:2017-03-03

摘要/Abstract

摘要： 针对某小型浮式稳定平台结构紧凑、负载惯量大的特点，设计了一种以少自由度并联机构为基础的改进型串联与并联机构。根据该平台的结构特点，进行了运动学分析，推导了系统雅可比矩阵，并利用Lagrange方法建立了平台的动力学模型，分析了平台的动力学特性。为分析含间隙的支链受力，将其简化为刚体—弹簧模型，通过改进的Hertz接触理论，采用非线性弹簧阻尼模型计算接触力，最终建立了含铰链间隙的平台动力学模型。数值计算与实验结果表明了数据建模的有效性，同时铰链间隙对动平台的位置精度和动力学特性产生了显著影响，对平台结构产生了较强的冲击。

关键词: 机械学, 并联机构, 稳定平台, 铰链间隙, 动力学分析

Abstract: An improved serial-parallel mechanism based on less DOF parallel mechanism is designed for a floating stabilized platform with compact structure and high load inertia. Based on the structural characteristics of the platform, the kinematics is analyzed, the system Jacobian matrix is derived, and a dynamic model is established and analyzed by using Lagrange equation. A simplified rigid body-spring model is proposed to analyze the chains with clearance joints. A non-linear spring-damper model is introduced to calculate the contact force by using improved Hertz contact theory, and a dynamic model considering joint clearance is established. The numerically computated and experimental results show that the dynamic model is effective, and the clearance has significant impact on the structure,position accuracy and dynamic characteristics of moving platform. Key

Key words: mechanics, parallelmechanism, stabilizedplatform, jointclearance, dynamicanalysis

中图分类号:

TP242.3

李豪杰，张合，李珂翔，谢克峰. 考虑铰链间隙的水面并联稳定平台动力学分析[J]. 兵工学报, 2017, 38(1): 129-134.

LI Hao-jie, ZHANG He, LI Ke-xiang, XIE Ke-feng. Dynamic Analysis of Offshore Parallel Stabilized Platform in Considering Joint Clearance[J]. Acta Armamentarii, 2017, 38(1): 129-134.

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考虑铰链间隙的水面并联稳定平台动力学分析

Dynamic Analysis of Offshore Parallel Stabilized Platform in Considering Joint Clearance

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