楔形稳定平台的等效机械臂模型

摘要

A stabilized platform is needed to compensate the disturbance of a moving carrier to keep the observation instrument relatively static to the ground. The wedge-platform changes the lean of its top plane to offset the vessel sway by rotating several wedges systematically, which has advantages as low produce cost, high accuracy, small load torque, low mass and low energy consumption. However it is confusing to analyze the wedge-platform for its unique structure. Therefore a simplifying transformation is created in this article which transforms the three-dimensional rotations of wedges to the two-dimensional movement of an approximately equivalent manipulator. Then 2-layer, advanced 2-layer and multi-layer structures of wedge-platform are analyzed and compared, which leads to the conclusion that the advanced 2-layer structure is the most appropriate practice solution. Finally, a set of control functions for the advanced 2-layer wedge-platform is calculated through coordinate systems transformations by rotation matrices.%为使运动载体上的观测仪器相对于大地保持静止，需要使用稳定平台对运动载体的扰动进行补偿。楔形稳定平台利用多个堆叠楔块之间的相对转动，改变顶部平面的倾角以抵消船摇扰动。它具有成本低、精度高、负载转矩小以及重量轻、能耗低等优点。然而楔形稳定平台独特的结构使得其分析较为困难。因此本文提出一种将三维空间内楔块的转动近似等效成二维空间内机械臂运动的简化变换，并以此分析比较了双层、改进型双层、多层等楔形稳定平台的结构，得出改进型双层结构是最佳实践方案。最后利用旋转矩阵进行坐标系变换，计算得到改进型双层结构楔形稳定平台的控制函数。