三柔索吊床机构设计与运动学分析

研制了一种有重力约束的三索控制的柔索吊床机构来模拟船体海面上的运动。为了解三柔索吊床机构的运动特性 ,对其进行了运动学建模与仿真。仿真结果表明 ,台面倾角在 0°～ 30 0°变化时 ,台面不碰撞立柱 ,且柔索伸缩长度与台面倾斜角度接近于线性变化。本文所做的工作对吊床平台避免撞击立柱、缩小吊床立柱布置空间、提高空间利用率 ,以及为吊床的运动控制提供了理论依据

A Three  tightwire hammock with the restriction of gravity is researched and manufactured to simulate the movement of hull in sea. In order to understand the movement characteristic of the Three  SPS parallel manipulator, the modeling and simulation is carried out. The results of simulation make clear that the platform is incapable of colliding knightheads, and the variation rate of length of tightwire to obliquity of platform comes near to linearity, when the obliquity of platform varies form 0° to 300°. What we have done provides theoretical basis for averting the platform impacting knightheads,decreasing the disposal space of knightheads, and designing a control system for the hammock.