Kinematic Analysis of A Low Profile Heavy-duty 3UPS-3SS Stabilized Platform
In order to achieve position control of the platform on the parallel mechanism,kinematic analysis was conducted on a double-layer detachable low profile heavy-duty 3UPS-3SS parallel mechanism.Firstly,the screw theory and G-K formula were used to analyze and verify the 3-degree-of-freedom parallel mechanism with 1T2R working mode;Secondly,kinematic analysis was conducted on the mechanism,and a position inverse solution model and constraint equation system were established through vector equation method.The expression of kinematic inverse solution was obtained,and the Jacobian matrix was solved using the inverse solution analytical formula;Finally,a motion simulation model was established,considering the actual working mode conditions,and the model was simplified.The feasibility of the mechanism was demonstrated by using MATLAB software to depict its reachable workspace through traversal and fast polar coordinate methods.This has laid a theoretical foundation for the dynamics,control,and practical application of the institution.
parallel mechanismdegrees of freedomkinematicsworking space
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