Prototype Development And Experimental Study Of Three Degree Of Freedom Hybrid Rotating Platform

By adjusting the attitude in real time,the rotating platform can achieve the goal of tracking and monitoring functions.In addition,it can insulate carrier turbulence and eliminate adverse effects,which realize the need of tasks,and is of great strategic significance and illustrate a good prospect of application.Therefore,a three-DOF hybrid rotating platform was constructed by connecting a one-DOF rotating branch on the basis of the parallel mechanism 3UPS-U,which has the advantages of large work space and high carrying capacity.Then prototype manufacturing and experimental research of hybrid rotating platform were carried out.The main contents are listed as follows:Firstly,the DOF analysis and inverse kinematic modeling of the three-DOF hybrid rotating platform mechanism were conducted.The parametric simulation model of the mechanism was established by using ADAMS software.Based on the two optimization indexes of driving economy and maximum carrying capacity,the size optimization design was performed,and then a set of sizes that make the performance of the machine be excellent were obtained.Secondly,the structural design of the parallel part,the serial part and the connection of these two parts for the 3-DOF hybrid rotating platform was carried out.The finite element analysis was also conducted by using ANSYS software,so as to optimize the structure of the main parts such as moving platform,fixed platform,hinge and connecting rod.Then the electric cylinder and other standard parts were selected,and the prototype was manufactured.Then,the simulation model of the 3-DOF of 3-DOF hybrid rotating platform was established,and the kinematic,static and dynamic simulation analysis were performed.By comparison with the results of theoretical analysis,the correctness of the previous DOF analysis,kinematic modeling and carrying capacity were verified.Besides,the dynamic characteristics of the rotating platform was obtained.Finally,based on multi-axis controller and three-axis gyroscope,the hardware part of the control system was built up,the connection of the electrical components was completed,which was integrated into the control cabinet.After the prototype had been tested and run,the kinematics algorithm was written into the controller,the prototype was run according to the expected trajectory,the motion error was analyzed and the corresponding improvement measures were given.