Design And Development Of Multi-parallel Units Load Balancing Stabilized Platform System Based On Variable Load And Impact Load

Due to good load-bearing performance,the large-scale stabilized platform with parallel mechanism as the main body configuration has wide application prospects in the fields of shipboard anti-rolling device,motion simulation platform and dynamic performance test.Meanwhile,with the gradual formation of China's "Extend in all directions" railway network,placing various launching devices on trains is becoming a new launching method and research hotspot in the field of launching research.The mobile launch platform based on the railway system not only has a stronger carrying capacity,but also uses its extremely fast travel speed to win more precious time for emergency rescue launch missions.However,the railway launch system not only has the damage of wheel and roadbed caused by the variable load and impact force,but also cannot guarantee the stability of the launch platform.Based on the above background,this paper designs a platform with multi-parallel units cooperating work to achieve load balancing and keep the attitude stable.The actuating force is planned to achieve load balancing protection of the wheelset,the subgrade etc.And the good load performance of parallel mechanism is used to keep the attitude of the launch platform stable.This paper focuses on the design goal of load balancing stabilized platform system with multi-parallel units cooperating work.Firstly,the simplified mechanical model of the load balancing stabilized platform is used to give the overall layout of the basic parallel unit.Then the configuration design and analysis of basic parallel unit are performed based on the kinematics requirement and the force condition of the stabilized platform.And the design of auxiliary mechanism such as the force-optimized erecting mechanism and the structure-optimized opening and closing mechanism are similarly completed.Finally,the overall scheme planning and design of multi-parallel units load balancing stabilized platform system is completed according to the scale constraint.The kinematics analysis of the multi-parallel unit load balancing stabilized platform system is carried out,including the freedom degree analysis,the kinematics forward and inverse solution,the attitude angle space analysis of the basic parallel unit.Through the extraction of railway ground environmental information and model analysis,the overall kinematics modeling of multiple parallel units is completed.Finally,the kinematics analysis of the auxiliary mechanism is carried out combined with the requirement of the work task.The mechanical analysis of the multi-parallel unit load balancing stabilized platform system is performed.Firstly,the planning of load balancing control force is obtained by analyzing and calculating of the mechanics model of load balancing stabilized platform moveable statics.In terms of the mechanical adaptation of the parallel unit and the ground,the actuating compensation amount of the mechanical compensation attitude angle adjustment is obtained,and the mechanical judgment condition for the parallel unit to complete the ground mechanical adaptation is put forward.Simultaneously,the limit force analysis of the parallel unit is performed to ensure load balancing stabilized platform having a compacted and reliable foundation.Finally,the load distribution of the load balancing control force is performed according to the load capacity of each parallel unit,and the actuating force planning of each parallel unit is obtained to achieve the overall load balancing and keep the attitude of multi-parallel unit platform stable.The simulation analysis and prototype design of the multi-parallel unit load balancing stabilized platform system are carried out.Firstly,the theoretical and numerical simulation analysis of the parallel unit under different working conditions is carried out,and the load capacity of the parallel unit under different working conditions is quantified to obtain the influence of different offsets.Then according to the load balancing stabilized platform moveable statics,the load balancing control force is planned and solved to obtain the bogie Improve force curve under the variable load and the impact load.Subsequently,the theoretical calculation and simulation of multi-parallel units' kinematic adaptation are completed under the preset working condition,and the distributed calculation of the load balancing control force is performed to obtain the actuating force planning curve of each parallel unit.Finally,the design work of the load balancing stabilized platform prototype system is completed.