| 基于4-SPS(PS)并联机构的自动调平系统研究 |
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| 引用本文： | 朱城伟,王亮,陈健伟,张荣兴. 基于4-SPS(PS)并联机构的自动调平系统研究[J]. 液压与气动, 2016, 0(6): 102-108. DOI: 10.11832/j.issn.1000-4858.2016.06.021 |
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| 作者姓名： | 朱城伟 王亮 陈健伟 张荣兴 |
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| 作者单位： | 1. 江西理工大学 机电工程学院, 江西 赣州 341000; 2. 济南汇智电力科技有限公司, 山东 济南 250201 |
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| 摘 要： | 为了提高自动调平系统在运用过程中的调平精度和响应速度,基于螺旋理论及反螺旋理论,提出了一种以4-SPS(PS)并联机构作为自动调平系统支撑机构的方案,并对机构的正/反解和Jacobian矩阵进行了探讨。基于并联机构运动特性,建立了机构的理论参考模型,并运用MATLAB/SimMechanics软件建立了机构的实验仿真模型,采用模拟调平信号输入对所建立的自动调平并联支撑机构进行了开环仿真研究,验证了该机构的有效性。
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| 收稿时间： | 2015-12-05 |
Study of Automatic Leveling System Based on 4-SPS(PS) Parallel Mechanism |
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| ZHU Cheng-wei,WANG Liang,CHEN Jian-wei,ZHANG Rong-xing. Study of Automatic Leveling System Based on 4-SPS(PS) Parallel Mechanism[J]. Chinese Hydraulics & Pneumatics, 2016, 0(6): 102-108. DOI: 10.11832/j.issn.1000-4858.2016.06.021 |
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| Authors: | ZHU Cheng-wei WANG Liang CHEN Jian-wei ZHANG Rong-xing |
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| Affiliation: | 1. School of Mechanical & Electrical Engineering, Jiangxi University of Science & Technology, Ganzhou, Jiangxi 341000; 2. Ji'nan Huizhi Electric Power Technology Co., Ltd., Jinan, Shandong 250201 |
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| Abstract: | In order to improve the accuracy and response speed of the automatic leveling system, a 4-SPS(PS) parallel mechanism based on screw and anti-screw theory, which is taken as the support mechanism for automatic leveling system, is proposed. Then the positive/inverse solution and Jacobian matrix of mechanism are discussed. Based on the kinematic characteristics of parallel mechanism, a theoretical model of the mechanism is established. At the same time, the experimental simulation model of the mechanism is presented by using MATLAB/SimMechanics software. The open loop simulation for the automatic leveling system is carried out by inputting analog signal, thus the effectiveness of the mechanism is verified. |
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