2R1T并联支撑机构动基座的自动调平系统设计

摘要

根据动基座自动调平系统调平特性，采用螺旋理论机构综合方法，给出一类适合作为动基座自动调平系统支撑机构的三自由度(2R1T)并联机构构型。在此基础上，选取一种自动调平系统的支撑机构设计方案，进行了正、逆运动学分析，最后建立了调平支撑机构的三维模型，应用ADAMS软件研究了此种调平机构的动态特性是否满足调平系统的调平特性。%Based on the screw theory,the paper presents a systematic method for structural synthesis of the two translations and one rotation parallel robot.According to the reciprocal product between kinetic screw and constrainted screw in screw theory,this method firstly creats possible branch structures and then generates different models of mechanism.By this method,the paper carries on the structural synthesis of the two translations and one rotation parallel robot.Using software of ADAMS to analyze the mechanism kinematics and dynamics,it analyzes the kinetic characteristics to verify whether it can meet the automatic leveling system dynamics and kinematics of the requirements or not.