【作者】 张兆奎；

【导师】 周跃发；

【作者基本信息】 哈尔滨工程大学 ， 一般力学与力学基础， 2008， 硕士

【摘要】 转台不仅是进行模拟、仿真、测试等的关键设备,而且是一个高精度、大负载、大偏载的复杂系统,在航空、航天、航海、兵器等关键领域中起着极重要的作用,它可以真实的复现各种飞行物体在空间的各种飞行姿态,再现其运动学及动力学特征。随着科学技术的发展,它的研制与发展也受到了越来越多的关注和重视。本文研究的是多自由度电液混合转台,该转台由三轴转台和六自由度并联转台组成。三轴转台的外框、中框和内框可以实现无限转动,六自由度并联转台可以实现空间的六自由度运动,但受结构的限制在空间存在盲区。利用三轴转台可以达到六自由度并联转台不能达到的空间,这样的组合可以延伸到空间的任何位置,弥补了单一转台的范围限制,从而此项研究更具有理论意义和实际价值。本文首先对三轴转台和六自由度并联转台在国内外的发展进行了介绍,然后对三轴转台和六自由度并联转台进行运动学分析,求得其角速度、角加速度及驱动杆的伸长速度,之后利用拉格朗日法对混合转台进行动力学建模,计算出广义驱动力,最后用Matlab进行编程仿真,得出模拟曲线图。更多还原

【Abstract】 Turntable is not only a significant device to simulate and test, but also a complicated system with high-precision, large load and large eccentric load, which play an important role in some significant field such as aviation, aerospace, marine and weapons. Turntable can make various space flight attitude of all kinds of flying objects come true again, and reproduce their kinetic and dynamic characteristics. With the development of aviation and aerospace technology, the research and development of turntable with multiple degrees of freedom have been paid more and more atfeution.A electronic-hydraulic mixed turntable is studied in this paper, which is made up of a triaxiat turntable and a parallel turntable with six degrees of freedom. The outer frame, middle frame and inner frame of the triaxiat system can achieve unlimited rotate by driven, the parallel turntable with six degrees of freedom can achieve space movement of six degrees of freedom, but there erists a blind room in the space by constraints of structure. The triaxiat system can be used to achieve the blind room that the parallel turntable with six degrees of freedom can’t achieve, thus it is possible to achieve any position in the space, which makes up the restrictions on the scope of a single table, and so it is more theoretical and practical value to study it. at Firstly, the development of the three-axis turntable and parallel turntable with six degrees of freedom at home and abroad is introduced in this paper.Secondly, the kinetic analysis of the triaxiat turntable and parallel turntable with six degrees of freedom is carried out, and the angular velocity, angular acceleration, and elongation rate of the driving rod are solved; thirdly, the dynamic modeling of the mixed turntable is done by Lagrangian method, and the generalized driving force is obtained; At last, MATLAB program euployedto obtain-ue simulation curves.更多还原