Parallel Stabilizing Cargo-receiving Platform With Double Drive And Cross Folding Mechanism

When the ship is sailing on the sea,it will be affected by the sea breeze and the waves.The ship will produce multiple degrees of freedom motion including rolling,pitching,yawing,sway,sway and heave.The combined motion of roll,pitch and heave has the greatest influence on the ship’s equipment.These movements affect the refutation of the cargo between ships at sea,and even threaten the safety of the people.By providing a relatively stable working environment and stable platform for receiving cargo ships,has important significance.In view of the existing parallel mechanism in heavy load and large travel restrictions,the paper designs a parallel stable 3 dimensional motion compensation of marine composite dual drive cross folding mechanism delivery platform,the main contents are as follows:First of all,according to the operation parameters of ship sailing in the sea,making the design index stable delivery platform.The existing parallel mechanism to large-scale application,unbearable heavy and difficult to realize the trip,the innovative design of a dual drive cross folding mechanism of the stabilized platform.The configuration and position of the parallel stable platform are analyzed,and the workspace is solved.Secondly,to establish a stable model of delivery platform stable,and the stable delivery platform in the stable model of position analysis.The kinematics model of the parallel stable platform mechanism is established by the influence coefficient method,and the mapping relation between the generalized velocity,the acceleration and the active input of the mechanism is obtained.Then,based on the spin algebra,the Newton Euler formula based on the rotation representation of a single rigid body is established,and the dynamic matrix of the single rigid body is derived.Based on the rotation,the dynamic matrix of the complex spatial mechanism-parallel mechanism is established,and the dynamic model of the parallel mechanism is obtained.Based on the Darren Bell principle,dynamic analysis of parallel stabilization of the dual drive cross folding mechanism delivery platform,provides the basis for engineering application.Finally,according to the design index of receiving stable platform,Solidworks software design complete parallel stable dual drive cross folding mechanism of delivery platform based on the developed 1:5,a small proportion of prototype,key parts of the strength check,finally introduced the structure and control system of the prototype prototype system.