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The new design of stabilised platform for targetseekers using two-dof spherical linkage

机译:使用二维球面连杆机构的针对目标瞄准者的稳定平台的新设计

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摘要

A target seeker is an important portion of the guidance system for the Hying vehicles to track fixed/flying objects. In the target seeker, the stabilised platform is fundamental as it provides pointing capability to maintain the apparatus mounted on it a desired time-invariant or time-variant pose. In this paper, a new design of the stabilised platform is investigated using a two-degree-of-freedom (dot) spherical linkage driven by two fixed motors. The configuration, forward and inverse kinematics, singularity as well as linearity are discussed. Then, the driving torques are modelled and investigated that leads to balance design. Furthermore, the balance design is detailed considering the motion of the flying base. Simulations illustrate the new design and a prototype is developed in the laboratory.
机译:目标搜寻器是Hying车辆跟踪固定/飞行物体的制导系统的重要组成部分。在目标搜寻器中,稳定平台至关重要,因为它提供指向功能,可将安装在其上的设备保持所需的时不变态或时变态。在本文中,研究了由两个固定电机驱动的两自由度(点)球形连杆机构对稳定平台进行的新设计。讨论了配置,正向和反向运动学,奇异性以及线性度。然后,对驱动扭矩进行建模和研究,从而实现平衡设计。此外,还考虑了飞行基座的运动,对天平的设计进行了详细说明。仿真说明了新设计,并在实验室中开发了原型。

著录项

  • 来源
    《International journal of design engineering》 |2010年第4期|p.337-354|共18页
  • 作者单位

    State Key Laboratory of Mechanical System and Vibration,Institute of Design and Control Engineering for Heavy Equipments,Shanghai Jiao Tong University,Shanghai, 200240, China;

    State Key Laboratory of Mechanical System and Vibration,Institute of Design and Control Engineering for Heavy Equipments,Shanghai Jiao Tong University,Shanghai, 200240, China;

    State Key Laboratory of Mechanical System and Vibration,Institute of Design and Control Engineering for Heavy Equipments,Shanghai Jiao Tong University,Shanghai, 200240, China;

    State Key Laboratory of Mechanical System and Vibration,Institute of Design and Control Engineering for Heavy Equipments,Shanghai Jiao Tong University,Shanghai, 200240, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    target seeker; stabilised platform; spherical linkage; linearity; driving torque; balance design; flying base.;

    机译:目标搜寻者稳定的平台;球形连接线性度;驱动转矩;平衡设计;飞行基地。;

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