Inverse Attitude Solution Model and Numerical Simulation of a 2-DOF Stabilized Platform
Considering the attitude stabilization requirements for an unmanned marine platform equipped with electro-optic detection equipment,a stabilized platform based on a 2-DOF parallel mechanism has been designed.The stabilized platform,especially for the requirements of small space and high load inertia,has such transmission branch chain with fixed ball-screw.The structure,DOF and kinematics of the platform has been analyzed,besides,the mathematical model of the platforms attitude inverse solution has been established.Numerical simulation for the derivate mathematical model and ADAMS simulation analysis has been done.In order to verify the correctness of the mathematical model,the motion process of the load-platform is described by a time function.The time function of the drive components calculated from the above two ways is used for the comparison of numerical simulation and ADAMS simulation.The results prove that the mathematical model established in this paper and ADAMS simulation results coincide.
Stabilized Platform Attitude Inverse Solution Numerical Simulation
Ke Xiang Li He Zhang
Ministerial Key Laboratory of ZNDY,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China
国际会议
广州
英文
679-683
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）