Optimization Design And Research Of 6-dof Rotation Platform With Redundant Motion

Platform for ship motion simulating is an experiment equipment which used to simulate ship's motion in ocean such as rolling, pitching and yawing on the land. It can aim to short developing period, reduce experiment cost and improve the reliability and success rate, since all kinds of ship motion are simulated in the laboratory.First, the structure of main part of platform is designed. The research including: 1) Two structure plans are proposed for the rotary platform, stress and displacement nephogram are gained by finite elemental method, then according to the security and economy requires a reasonable plan is to be chosen. 2) For the support platform, an original plan is proposed, then stress and displacement nephogram are gained by finite elemental method. In accordance with stress and displacement of each part, the original plan is improved to strengthen the weak part of this system and adjust the scale of part to lower the weigh, finally the optimistic plan is confirmed. 3) The plan of upper and lower gemel is perfect, through the analysis of advantages and disadvantages of each mechanism, the structure plan of upper and lower gemel is put forward, and then the check of structure intension and stiffness are analyzed by finite elemental method.The key parts like rotary bearing, servo motor and harmonic reducer is chosen in the essay. According to the load situation of platform, the situation of incline of platform and departure of center for experiment equipment, the axial force, radial force, and torque of rotary bearing; the power and torque of servo motor; and speed ratio and torque of harmonic reducer are calculated. Reasonable types are chosen from relevant manual.Virtual prototype is established in this essay, through the analysis of each extreme situation of platform system, the virtual prototype is used to check mechanical interference of platform motion system.