【摘要】 双端虎克铰六自由度船舶运动模拟平台,要同时考虑主动移动副和被动副虎克铰的轴线布置对平台产生的影响。为查寻六自由度船舶模拟平台受两者运动影响产生奇异位形的两种典型工况,根据螺旋理论对两种情况进行分析,用遗传算法对模拟平台在可达工作空间内的平动和转动这两种情况进行检测,并进行方法寻优。将检测寻优结果与相关实例检测结果进行对比。两者结果都表明存在这两种奇异位形以及检测算法的有效性。因此,奇异位形检测可为实际工程现场的实时控制提供参考。更多还原

【Abstract】 The operation of double-end Hooke hinge six-degree-of-freedom ship motion simulation platform must consider the influence of the axial arrangement of the active moving pair and the passive auxiliary Hooke hinges on the platform. Two typical potential singularity cases of the platform are investigated. The two cases are analyzed with the spiral theory and the platform is examined through performing the translation and rotation in the reachable workspace with the genetic algorithm. The singular position detection algorithm is optimized through trial. The results of trial and real examples prove the existence of the two cases and the effectiveness of the detection algorithm. The singularity cases detection can be used for real-time on-site control in actual engineering sites.更多还原