| 基于广义Stewart平台的精密跟瞄机构动态各向同性优化设计 |
| |
| 引用本文： | 佟志忠,姜洪洲,何景峰,段广仁.基于广义Stewart平台的精密跟瞄机构动态各向同性优化设计[J].宇航学报,2011,32(5). |
| |
| 作者姓名： | 佟志忠 姜洪洲 何景峰 段广仁 |
| |
| 作者单位： | 1. 哈尔滨工业大学机电工程学院,哈尔滨,150001
2. 哈尔滨工业大学航天学院,哈尔滨,150001 |
| |
| 摘 要： | 设计一个各向同性、高精度、满足给定负载特性的Stewart并联机构,满足精密跟瞄机构的精密指向、振动隔离及抑制性能仍然是比较困难的,而且各向同性标准Stewart并联机构对负载的约束条件极为苛刻.为解决这一问题,提出具有容错特性的一类广义Stewart并联机构,定义动态各向同性概念及指标,考虑负载质量几何特性,推导了动态各向同性描述及条件的解析数学形式.将局部动态各向同性与全域工作空间灵活性好、满足运动能力和无构件干涉等目标相综合,建立了精密跟瞄广义Stewart并联机构的优化设计方法.结果表明广义Stewart并联机构能够放松各向同性时对负载的条件约束,设计方法优化并具有工程应用价值.
|
| 关 键 词： | 动态各向同性 Stewart平台 容错 优化设计 跟瞄机构 |
Optimal Design of Generalized Stewart Parallel Manipulator Based Precise Tracking-Pointing Platform with Dynamic Isotropy |
| |
| TONG Zhi-zhong,JIANG Hong-zhou,HE Jing-feng,DUAN Guang-ren.Optimal Design of Generalized Stewart Parallel Manipulator Based Precise Tracking-Pointing Platform with Dynamic Isotropy[J].Journal of Astronautics,2011,32(5). |
| |
| Authors: | TONG Zhi-zhong JIANG Hong-zhou HE Jing-feng DUAN Guang-ren |
| |
| Institution: | TONG Zhi-zhong1,JIANG Hong-zhou1,HE Jing-feng1,DUAN Guang-ren2(1.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China,2.School of Astronautics,China) |
| |
| Abstract: | A precise tracking-pointing platform should meet such requirements as highly pointing,vibration isolation and vibration suppression.A Stewart parallel manipulator with dynamic isotropy is applicable to satisfy precise tracking and pointing performances,while it is still difficult to realize an optimal design for the desired specification.A traditional Stewart parallel manipulator is impossible to achieve complete isotropy because the payload is restricted rigorously.To solve the problem,a kind of generalize... |
| |
| Keywords: | Dynamic isotropy Stewart parallel manipulator Fault tolerant Optimal design Tracking-pointing platform |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
