In order to ensure the interface pairing between heavy equipment modules,a hybrid mechanism pose adjustment platform with compact structure and 6-DOF(six degrees of freedom)motion is designed for the special working conditions of low-speed,heavy-load and low-docking installation position.Firstly,the kinematic mechanism and overall structure of the pose adjustment platform are designed,and a 6-DOF pose adjustment platform combining the space mechanism and the plane mechanism is proposed.Secondly,based on the coordinate transformation theory,the kinematics analysis is carried out,and the inverse solution mathematical model of the relationship between the spatial pose change and the movement of the piston rod of the hydraulic cylinder is established.Finally,the inverse solution theoretical model is established with the MATLAB/Simulink,and the parameterized virtual prototype model is built based on SimMechanics,which co-simulates with Simulink.The simulation results verify the correctness of the kinematic model and the feasibility of the kinematic mechanism.
关键词
重型装备/调姿平台/混联机构/运动学分析/SimMechanics
Key words
heavy equipment/pose adjustment platform/hybrid mechanism/kinematic analysis/SimMechanics
维普
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