System Research Of A Dual-drive Position Adjustment And Vibration Isolation Platform

When the car is driving on a highway,the car will bump due to the influence of uneven road surface,and the body will produce compound motions in multidimensional directions,including low-frequency and high-amplitude movements,accompanied by high-frequency and low-amplitude vibrations.In order to provide a stable working environment for vehicle equipment and to compensate for the complex motion generated by the vehicle body,this paper designs and develops a composite dual-drive attitude isolation vibration platform,which achieves high-low frequency compound motion output through dual driving and kinematics characteristics of the mechanism.A preliminary analysis was conducted and related motion simulation experiments were conducted.The main contents are as follows:First,the road surface irregularities under certain road conditions are simulated by harmonic superposition method,and the motion characteristics are analyzed according to the simplified vehicle dynamics model;several mechanisms of low degree of freedom are integrated,and the advantages and disadvantages are compared and selected.The 3-(RRPRP)-(RS)dual-drive configuration is used as the final configuration of the vibration isolator platform;finally,the restrained helix method is used to analyze the degree of freedom of the mechanism driven by different drives,so that the compound dual drive 3-(RRPRP)-(RS)mechanism of degree of freedom.Secondly,the position reversal of the 3-(RRPRP)-(RS)mechanism under different driving methods is analyzed,and the dominant position reversal of the R-driven mechanism is obtained;the equivalent mechanism is analyzed using the dummy mechanism method.-The velocity mapping relationship between the(R)RS mechanism moving platform and the equivalent closed-loop subchain,and then obtained the corresponding relationship between the(RRPRP)equivalent closed-loop subchain and the drive pair by the derivative and rotation methods.Get the speed jacob ratio under different driving initial position of the mechanism;use the two iteration methods of Newton method and quasi-Newton method to analyze the positive solution of the mechanism position;analyze the working space of the mechanism based on the inverse solution,and solve the mechanism of the different drives.Reach space.Again,the driving statics of the mechanism are analyzed through the principle of virtual work and the D’Alembert’s principle,and the drive motor is selected through Adams software simulation;the control system of "PC+multi-axis motion controller" is set up,and the hardware is The selection was made.The electrical schematics were drawn and physically connected through Eplan.The software program was developed based on MotionPerfet,and the human-machine interface was written through Lab VIEW.Finally,the prototype was processed and manufactured,and an experimental detection system was set up.Motion simulation tests were carried out on three driving methods:low-frequency driving,high-frequency driving and compound driving.The accuracy of the theory was verified by comparing the experimental results with the theoretical data.