| 3-SPR并联机构的隔振性能分析验证 |
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| 引用本文： | 刘建坤,南江红,翁艺航. 3-SPR并联机构的隔振性能分析验证[J]. 机械制造与自动化, 2022, 51(1): 70-74. DOI: 10.19344/j.cnki.issn1671-5276.2022.01.018 |
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| 作者姓名： | 刘建坤 南江红 翁艺航 |
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| 作者单位： | 上海航天电子技术研究所,上海201109 |
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| 摘 要： | 对航天器或者雷达天线进行隔振是减少其受到振动载荷的有效方法.采用一种基于3-SPR并联机构的稳定平台进行主动隔振.建立上平台坐标系、下平台坐标系、全局坐标系,分析推导3个坐标系的姿态变换矩阵,将3-SPR并联机构作为稳定平台进行运动学和静力学特性分析,建立包含下平台和上平台同时运动的运动学公式及其静力平衡方程和静力传递...
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| 关 键 词： | 3-SPR并联机构 稳定平台 位姿约束方程 运动学分析 主动隔振 |
Vibration Properties Analysis and Verification of 3-SPR Parallel Mechanism |
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| LIU Jiankun,NAN Jianghong,WENG Yihang. Vibration Properties Analysis and Verification of 3-SPR Parallel Mechanism[J]. Machine Building & Automation, 2022, 51(1): 70-74. DOI: 10.19344/j.cnki.issn1671-5276.2022.01.018 |
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| Authors: | LIU Jiankun NAN Jianghong WENG Yihang |
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| Affiliation: | (Shanghai Aerospace Electronic Technology Institute,Shanghai 201109,China) |
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| Abstract: | As vibration isolation is a effective method to reduce the vibration load on spacecraft or radar antenna,a stable platform based on 3-SPR parallel mechanism is used for active vibration isolation.The upper,lower and global coordinate systems are established to derive the attitude transformation matrices of the three coordinate systems,and the kinematics and static characteristics of the 3-SPR parallel mechanism as a stable platform are analyzed.The kinematics equation of lower and upper platform simultaneous motion,the static balance equation and the static transfer matrix are established.The principle and control method of active vibration isolation are proposed,and a numerical example verification is conducted,which lays a theoretical foundation for the optimization design and engineering application of the stable platform based on parallel mechanism. |
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| Keywords: | 3-SPR parallel mechanism stabilized platform position-orientation constraint equation kinematics active vibration isolation |
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