基于并联机构的高品质舰船稳定平台基础理论与关键技术研究

项目名称： 基于并联机构的高品质舰船稳定平台基础理论与关键技术研究

项目编号： No.51275438

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 张立杰

作者单位： 燕山大学

项目金额： 85万元

中文摘要： 本项目针对海上大型舰船载雷达、火炮及导弹发射平台等特殊需要，基于空间并联机构承载大、精度高、易于实现多轴联动、动态响应快速等优点，开展面向大型舰船载并联式稳定平台有关的机构综合、运动学、动力学及电液伺服控制的基础理论及关键技术研究，设计开发并联式多轴联动稳定平台系统。重点研究以大姿态工作空间为主要目标的舰船稳定平台构型综合与优选；以提出与坐标系无关的并联机器人新型性能指标为目标的机构运动品质（运动/力传递特性和精度）的分析与研究；以求解机构动态响应特性为目标的机构动力学研究；以提高承载能力、稳定精度和动态响应为主要目标，基于运动品质特性和动态响应特性的机构参数优化设计研究；以提高系统动态响应、控制精度及鲁棒性的电液伺服控制策略研究；创新设计具有自主知识产权的并联式稳定平台，研制电液伺服控制稳定平台实验样机。在此基础上开展舰船稳定平台样机的测试实验研究，为实际应用奠定基。

中文关键词： 并联机构；型综合；优化设计；动力学；参数辨识

英文摘要： According to special requirements of radar and artillery and missile launch platform on large ships at sea, in addition, based on the advantages of heavy-load capacity, high accuracy, easiness to realize multi-axes synchronous and rapid dynamic response of spatial parallel mechanism, so,the project develops on fundamental theory and key technology research of mechanism synthesis , kinematics, dynamics and electro-hydraulic servo control on parallel type and stabilized platform of large ships, while, design and develop the system of stabilized platform of parallel type and multi-axes synchronous. One focus on solving configuration synthesis and optimization of stabilized platform at ships, for the main objective of large posture workspace; analysis and research on movement quality (motion/force transmitting characteristics and accuracy) of mechanism, for the main objective of putting forward a new performance index of parallel robot, independent of the coordinate system; study on dynamics of mechanism, for the main objective of solving dynamic response characteristics of mechanism; research on optimum design of the mechanical parameters based on characteristics of movement quality and dynamic response, for the main objective of increasing bearing capacity, stabilized accuracy and dynamic response; study on electr

英文关键词： parallel mechanism；type synthesis；optimum design；dynamics；parameter identification