Kinematic And Dynamic Analysis Of Multi-Degree-of-Freedom Stabilization Platform

A stable platform is a device that reduces or even isolates external disturbances.It keeps the carrier target stable in the inertial space by driving the movement change of the branch and compensating the tilt angle and displacement.Based on the stability characteristics,the stable platform has important practical value and has been widely used in the fields of land,sea and air.Based on the Stewart platform structure and three-axis turntable,this paper constructs a new multi-freedom stable platform,which has the characteristics of Stewart platform with strong carrying capacity,non-accumulation of errors,space movement with six degrees of freedom,and the advantages of three-axis turntable with strong flexibility.In addition,the two are combined together to increase the rotation space of the parallel stable platform,which solves the problem of excessive angular velocity variation under high-frequency vibration and further stabilizes the carrier target.Considering the general static environment,the stability of the stable platform should be tested.Therefore,a motion simulator is connected in parallel under the new stable platform to simulate the external interference.In this paper,the kinematics and dynamics of the new multidegree-of-freedom stable platform are studied and verified by simulation.Firstly,the position analysis of the stable platform is carried out by means of kinematic inverse solution combined with direction cosine matrix to lay the foundation for mechanism analysis.Using vector method and influence coefficient method,the velocity equation and acceleration equation of each mechanism of the stable platform are derived.And using programming,kinematic numerical calculations of single,two and multiple degrees of freedom for the multi-free stable platform were carried out.The variation diagram of velocity and acceleration of each mechanism is obtained.Then using Newton-Euler method combined with the influence coefficient method,the dynamic modeling of the stable platform is carried out,and the dynamic equation is derived.The dynamic equation not only reflects the relationship between the driving force and motion of the driving mechanism,but also provides the theoretical basis for the control of the stable platform.The dynamic numerical calculation of the stable platform with single,two and multiple degrees of freedom was also carried out.Using programming,and the driving force variation diagram of each mechanism was obtained.Finally,based on MATLAB/Simulink simulation platform,the kinematics and dynamics simulation analysis of the stable platform was carried out.The results verify the correctness of the kinematics and dynamics research,and show that the new stable platform based on Stewart platform and triaxial turntable in this paper is an effective and reasonable design.