Space Dynamic Modelling and Analysis of Offshore HUS Flexible Parallel Platform

doi:10.3969/j.issn.1000-1093.2017.03.013

Abstract

Abstract: The space elastic dynamic modelling of parallel platform is created for the elastic deformation and the load pointing displacement error of support link due to the rapid stabilization and large load of offshore HUS flexible parallel platform. Space elastic link is modelled by modal function and space equal section beam element model. The link based on hook joint and ball joint has two degrees of freedom space movement. The transformation matrix of two degrees of freedom between space element coordinate and system coordinate is derived. The kinematic and dynamic constraints of platform are used to establish the space elastic dynamic equations of HUS flexible parallel platform. The elastic dynamic equations are discretely solved by Newmark method. The elastic dynamic response of platform and the maximum dynamic stress of support link are analyzed. And the dynamic test experiment is conducted. The results show that the maximum displacement of support point by elastic deformation is 2.45 mm, and the error of axis x is significantly greater than those of axes y and z. Experimental results are consistent with the simulated results, thereby validating the effectiveness of the numerical model. The influence of elastic deformation on load pointing accuracy is analyzed, and the maximum position error due to elastic angular displacement is 1.35 m. Key

Key words: mechanics, flexibleparallelplatform, spacedynamicmodelling, elasticdeformation, elasticlink

CLC Number:

XIE Ke-feng, ZHANG He, LIU Shan-zeng, LI Hao-jie. Space Dynamic Modelling and Analysis of Offshore HUS Flexible Parallel Platform[J]. Acta Armamentarii, 2017, 38(3): 512-519.

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第38卷
第3期2017 年3月兵工学报ACTA
ARMAMENTARIIVol.38No.3Mar.2017

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