Configuration synthesis and multi-objective optimization of stable attitude-adjustment platform with U-branch chain
The radar is a precision instrument,whose accuracy in measurement calls for smooth operation of a stable platform and its accurate attitude.Since the high-performance radar needs an auxiliary stable platform with large load capacity,high preci-sion and small volume,this article focuses on the large shipboard radar's stable platform;the research is carried out from the fol-lowing aspects:comprehensive method with the specific branch chain,kinematic analysis on the platform mechanism,and multi-objective parameter optimization of the platform.According to the environment requirements of shipboard radar operation,the par-allel mechanism with the U-branch chain is identified as the stable platform's basic configuration.Based on the constrained spiral theory,the parallel mechanism's configuration with fewer freedom-driven branches is synthesized,and the 2RRPU/2RPU/U mechanism is preferred.In addition,efforts are made to explore the 2RRPU/2RPU/U mechanism as well as work out the posi-tion's positive and negative solutions and the velocity Jacobi.With the help of NSGA-Ⅱ(Non-dominated Sorting Genetic Algo-rithm Ⅱ),multi-objective parameter optimization is performed on such performance indexes as volume,dexterity and force;the optimal solution set is obtained through training.A Simulink-MCD parametric dynamic model is set up to optimize the optimal so-lution set's dynamic parameters and finally obtain the platform's optimal structural parameters.This study provides methodologi-cal ideas for configuration design of shipboard-oriented stable platforms and optimization design based on dynamic indexes.
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