Dynamic Analysis Of Parallel Stabilization Platform Based On Kane Formulation

The stabilized parallel platform is a platform which could compensate six degrees of freedom movement,and the platform can be stabilized through the change of the length of the drive rods,to realize the isolation of disturbance.Because the parallel mechanism has strong bearing capacity,the error does not accumulate with each other and it also can implement compensation.Parallel stabilized platform can be widely used in automotive equipment,Marine equipment,etc.The main work of this paper is to study the dynamic characteristics of the parallel stabilized platform.(1)Firstly,the parallel stability platform is analyzed,and the mathematical model of the parallel stabilized platform is established,and then the inverse kinematic analysis of the platform is obtained.Due to the uniqueness of the inverse kinematic solution of the mechanism,platform workspace can be analyzed through this feature.Finally drawing platform of space graphics,to ensure the stabilized platform does not conduct interference during the simulation.(2)Using the kinematics results obtained before,it can provide a basis for the study of dynamics.In this paper,the Kane method is used for dynamic analysis,and the advantage of Kane method is to avoid the binding solution,which is convenient for computer programming.In the dynamic model of the study,the mass of platforms and links is taken into consideration,and the calculation results can provide theoretical basis for the next control research(3)Based on Matlab/SimMechanics module to build 3D entity modeling,and conducting kinematics and dynamics simulations,the simulation results are compared with the results derived before,to verify the correctness of mathematical modeling in this paper.