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首页> 外文期刊>Journal of Zhejiang University. Science, A >Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure
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Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure

机译：具有4TPS-PS结构的并联4自由度电平台的运行特性研究

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摘要

The 4TPS-PS parallel platform designed for a stabilization and automatic tracking system is a novel lower-mobility parallel mechanism. In the first part of this paper, the structure of the platform is described and the kinematics model is built. The workspace of the platform is defined as the full reachable rotation workspace when the Z coordinate dimension of the upper plate varies continuously. A fast searching method of the full reachable workspace is presented, after which the inverse kinematicsof the platform is deduced. The forward and inverse solutions of the speed and force of the platform are deduced. According to the characteristic of the 4TPS-PS platform's structure, a fast searching algorithm of the maximum generalized speed and maximumgeneralized force output by the upper plate is put forward based on the forward and inverse solutions of the platform's speed and force. The 4TPS-PS platform prototype built by the State Key Laboratory of Fluid Power Transmission and Control of China istaken as the research subject. The full reachable rotation workspace of the prototype is computed out and analyzed. The curves of maximum generalized speed and maximum generalized force of the prototype are computed out and plotted. Finally, the computing and analyzing results of the operating characteristics are confirmed through the experiment.
机译：用于稳定和自动跟踪系统的4TPS-PS并行平台是一种新型的低机动性并行机制。在本文的第一部分中，描述了平台的结构并建立了运动学模型。当上板的Z坐标尺寸连续变化时，平台的工作空间定义为完全可到达的旋转工作空间。提出了一种完全可到达工作空间的快速搜索方法，然后推导了平台的逆运动学。推导了平台速度和力的正解和反解。根据4TPS-PS平台结构的特点，基于平台速度和力的正反解，提出了上板最大广义速度和最大广义力的快速搜索算法。以中国流体动力传动与控制国家重点实验室建造的4TPS-PS平台样机为研究对象。计算出并分析了原型的全部可到达的旋转工作空间。计算出并绘制了原型的最大广义速度和最大广义力的曲线。最后通过实验确定了运行特性的计算分析结果。

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