【摘要】 根据舰船在海洋中的运动特性,本文提出一种由五个结构完全相同的UPS型驱动分支和一个RRS型约束分支构成的五自由度舰载稳定平台,该平台可实现三维转动和两维移动。首先,本文建立了该稳定平台的三维模型,并推导了其运动学反解表达式;其次,建立了该稳定平台正向和逆向速度、加速度表达式,并通过实例分析画出了5个驱动分支的位移、速度和加速度曲线图,通过运动学曲线图可看出该稳定平台运动平稳,其位移、速度以及加速度均未出现突变或断点,表明机构设计的正确性,并具有较好的运动学特性。更多还原

【Abstract】 This paper presented a stabilized platform with five UPS active limbs and one RRS passive limb based on the characteristics of the ship movement. First, the stabilized platform’s prototype is presented and the inverse position formulas are derived. Then the inverse/forward velocities, inverse/forward accelerations formulas of the stabilized platform are derived. Third, examples for solving the length, velocity and acceleration of the active limbs are derived and the result shows that the proposed mechanism has good kinematic characteristic.更多还原