Kinematics and Dynamics Modeling of 1T2R Heavy-load Parallel Stabilized Platform with Analytical Solution

doi:10.12382/bgxb.2023.1168

Abstract

Abstract:

In order to solve the parasitic motion of the heavy-load parallel stabilized platform of one translation and two rotations ship, which is not conducive to solving the analytical solution of kinematics and increases the difficulty of control system, a platform mechanism of 1T2R variant 3UPS-PUU-2SS parallel stabilized platform with analytical solution is proposed to remove the accompanying rotation around z-axis. By analyzing the motion characteristics of the spatially constrained branched chain, it is proved that the parallel platform does not rotate around z-axis. The spatial closed-loop vector equation method is used to establish the constraining equations and kinematic models, and then the analytical solutions of parasitic motion and inverse kinematics are obtained. The reachable workspace of the parallel platform is plotted by the fast polar coordinate search method, and the dexterity of the workspace is analyzed by the Jacobian matrix conditional number. A dynamic model of the parallel platform is established based on the virtual work principle, and the numerical solution is carried out by the 5-order polynomial interpolation method, and the theoretical curve of driving force is drawn, which is compared with the dynamic simulation curve of the finite element analysis software. The theoretical and simulated results show that the achievable workspace can meet the motion compensation requirements of a ship in the fourth-level sea state, its global dexterity is greater than 0.32, and the maximum error between the theoretical and simulated results of the dynamic model is within 1.42%, which verifies the accuracy of the dynamic model.

Key words: stabilized platform, parasitic motion, analytical solution, kinematics, dynamics

CLC Number:

TH112

QIANG Hongbin, DU Liangliang, KANG Shaopeng, LIU Kailei, ZHOU Ling, ZENG Shuisheng. Kinematics and Dynamics Modeling of 1T2R Heavy-load Parallel Stabilized Platform with Analytical Solution[J]. Acta Armamentarii, 2024, 45(11): 3959-3969.

Figures/Tables 13

Fig.1 3D model of the stabilized platform

Fig.2 Schematic diagram of theparallel platform of variant 3UPS-PUU-2SS

Fig.3 Mutated PUU institutions

Fig.4 Pose change of moving platform

Fig.5 Reachable workspace

Fig.6 Distribution of dexterity indicators

Fig.7 The position and size parameters of stabilizing the ith driving branch chain of the platform

Table 1 Quality attributes of stabilized platform

运动杆件名称	质量/kg
动平台负载(飞机)	95563.3252
动平台质量	4700.7841
驱动支链缸筒	196.9004
驱动支链缸杆	124.9865
第1约束杆	130.0745
第2约束杆	161.7952
第3约束杆	130.0745

Fig.8 Comparison of the simulated and theoretical driving force curves of the driving rod 1

Fig.9 Comparison of the simulated and theoretical driving force curves of the driving rod 2

Fig.10 Comparison of the simulated and theoretical driving force curves of the driving rod 3

Fig.11 Simulated and theoretical driving force errors

Fig.12 Percentage errors of the simulated and theoretical driving force curves

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