Dynamic Analysis of Offshore Parallel Stabilized Platform in Considering Joint Clearance

doi:10.3969/j.issn.1000-1093.2017.01.017

Abstract

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

CLC Number:

TP242.3

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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第38卷
第1期2017 年1月兵工学报ACTA
ARMAMENTARIIVol.38No.1Jan.2017

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