一种Stewart结构六维力/力矩传感器参数辨识研究

介绍了一种大量程Stewart结构六维力/力矩传感器系统.建立了传感器力/力矩测量数学模型,构建了基于运动学逆解的优化目标函数.提出了一种新的参数标定法,称作分支轮换标定法.基于所研发的六维力/力矩传感器系统进行了实验研究,实验结果表明分支轮换法可以有效地辨识出传感器的结构参数,提高了测量精度.该方法可用于类似结构的六维力/力矩传感器参数标定.

大射电望远镜精调Stewart平台工作空间分析

针对大射电望远镜精调Stewart平台的五自由度运动特性,采用快速极坐标搜索法确定了五自由度大射电望远镜精调Stewart平台的工作空间.通过实例分析验证了所提出的工作空间分析方法的有效性.为大射电望远镜馈源轨迹跟踪实现和精调Stewart平台的设计奠定了坚实的基础.

基于Stewart平台六维力传感器的分区静态标定方法

基于Stewart平台的六维力传感器具有结构紧凑、刚度大、量程宽等特点,它在工业机器人、空间站对接等领域具有广泛的应用前景。好的标定方法是正确使用传感器的基础。由于基于Stewart平台的六维力传感器是一个复杂的非线性系统,所以采用常规的线性标定方法必将带来较大的标定误差从而影响其使用性能。标定的实质是,由测量值空间到理论值空间的映射函数的确定过程。由函数逼近理论可知,当只在已知点集上给出函数值时,可用多项式或分段多项式等较简单函数逼近待定函数。基于上述思想,本文将整个测量空间划分为若干连续的子测量空间,再对每个子空间进行线性标定,从而提高了整个测量系统的标定精度。实验分析结果表明了该标定方法有效。

并联Stewart机构位姿误差分析

从并联机构与串联机构的运动学等效 ,并联机构本身特征与并联机构实际工作空间出发 ,考虑各分支末端误差对最终运动平台末端误差的影响 ,提出了并联机构位姿误差放大因子分析法·依据位姿误差放大因子具有对误差定量分析的特点 ,该分析方法既可用于机构参数优化 ,又可用于结构精度设计· 最后 ,给出了一个实例说明本方法的有效性·

基于结构变形的大型并联六维力传感器精度研究

为了研究结构变形对大型六维力传感器精度的影响,基于螺旋理论及影响系数方法,并借助位姿解建立了考虑结构整体变形条件下Stewart平台六维力传感器测量误差模型,推导出并联六维力传感器测量的I,II类误差表达式,分析了在不同外载下,六维力传感器Ⅰ,Ⅱ类误差,总结了结构变形和平台自重对传感器测量精度的影响规律,为具有普通球形铰链大型Stewart平台六维力传感器标定方案的选择和精度的改善提供了理论基础。

并联结构六维力传感器性能分析与优化设计

基于螺旋理论和空间模型理论绘制了Stewart平台型六维力传感器的性能图谱,总结了结构参数对传感器各性能指标的影响规律;在此基础上对大型Stewart平台六维力传感器的结构进行了非线性单目标、多目标优化设计,为具有普通球形铰链大型Stewart平台六维力传感器的设计和优化提供了依据。

基于四自由度并联机构的数控机床研究

介绍一种基于混合型四自由度并联平台机构开发的五坐标并联机床 .由于其独特的机构设计 ,与基于 Stewart平台的并联机床相比 ,X方向的进给运动与运动平台分离 ,改由工作台单独进给 ,因而其工作空间成倍增大 .采用龙门框架结构和滚珠丝杠支承方案使机床获得更高的刚度 .给出了该机床运动学逆解 ,控制系统采用基于 PC的数控系统进行五轴联动控制

Finite Element Analysis of Deformed Legs of Offshore Platform Structures

The element stiffness matrix of the equivalent beam or pipe element of the deformed leg of the platform is derived by the finite element method. The stresses and displacements of some damaged components are calculated, and the numeri-cal solutions agree well with those obtained by the fine mesh finite element method. Finally, as an application of this method, the stresses of some platform structures are calculated and analyzed.

Governing Equations and Numerical Solutions of Tension Leg Platform with Finite Amplitude Motion

It is demonstrated that when tension leg platform (TLP) moves with finite amplitude in waves, the inertia force, the drag force and the buoyancy acting on the platform are nonlinear functions of the response of TLP. The tensions of the tethers are also nonlinear functions of the displacement of TLP. Then the displacement, the velocity and the acceleration of TLP should be taken into account when loads are calculated. In addition, equations of motions should be set up on the instantaneous position. A theoretical model for analyzing the nonlinear behavior of a TLP with finite displacement is developed, in which multifold nonlinearities are taken into account, i.e., finite displacement, coupling of the six degrees of freedom, instantaneous position, instantaneous wet surface, free surface effects and viscous drag force. Based on the theoretical model, the comprehensive nonlinear differential equations are deduced. Then the nonlinear dynamic analysis of ISSC TLP in regular waves is performed in the time domain. The degenerative linear solution of the proposed nonlinear model is verified with existing published one. Furthermore, numerical results are presented, which illustrate that nonlinearities exert a significant influence on the dynamic responses of the TLP.

The W-11-4A platform comprehensive strength monitoring system

A comprehensive strength monitoring system used on a fixed jacket platform is presented in this paper. The long-term monitoring of W-11-4A platform achieved. Structural responses (strain and acceleration) at selected locations, as well as associated environmental parameters, have been obtained. The emphasis of the paper is placed on the system design, and the instrumentation and operation methodology employed in the monitoring of the structural responses. The performance of the system and the characteristic results obtained during its 13-month operation are also summarized.

Hill Instability Analysis Of Tlp Tether Subjected To Combined Platform Surge And Heave Motions

This paper presents the Hill instability analysis of Tension Leg Platform (TLP) tether it, deep sea. The 2-D nonlinear beam model which is Undergoing Coupled axial and transverse vibrations, is applied. The governing equations are reduced to nonlinear Hill equation by use of the Galerkin's method and the modes superposition principle. The Hill instability charted Lip to large parameters is obtained. An important parameter M is defined and can he expressed as the functions of tether length, the platform surge and heave motion amplitudes. Some example studies are performed for various environmental conditions. The results demonstrate that the nonlinear coupling between the axial and transverse vibrations has a significant effect on the response of structure.. It needs to be considered for the accurate dynamic analysis of long TLP tether subjected to the combined platform surge and heave motions.

Nonlinear analysis of pile foundation jacket platform

In this paper, the nonlinear collapse of the BOHAI-8 pile foundation jacket platform has been analyzed. The ultimate load and collapse process of two computational models of the structure are given. One model is of fixed support whose length is eight times the pile leg diameter and the other considers the nonlinearity of the soil-pile interaction.

Nonlinear Dynamic Response of Tension Leg Platform

Tension Leg Platform (TLP) is a typical compliant offshore structure for oil exploitation in deep water. Most of the existing mathematical models for analyzing the dynamic response of TLP are based on explicit or implicit assumptions that displacements (translations and rotations) are small magnitude. Herein a theoretical method for analyzing the nonlinear dynamic behavior of TLP with finite displacement is developed, in which multifold nonlinearities are taken into account, i.e. finite displacement, coupling of the six degrees of freedom, instantaneous position, instantaneous wet surface, free surface effects and viscous drag force. Using this theoretical model, we perform the numerical analysis of dynamic response of a representative TLP. The comparison between the degenerative linear solution of the proposed nonlinear model and the published one shows good agreements. Furthermore, numerical results are presented which illustrate that nonlinearities exert a distinct influence on the dynamic responses of the TLP.

Short-Term Nonlinear Response of Tension Leg Platform in Random Sea Waves

Most of the existing mathematical models for analyzing the dynamic response of TLP are based on explicit or implicit assumptions that motions (translations and rotations) are small magnitude. However, when TLP works in severe adverse conditions, the a priori assumption on small displacements may be inadequate. In such situation, the motions should be regarded as finite magnitude. This paper will study stochastic nonlinear dynamic responses of TLP with finite displacements in random waves. The nonlinearities considered are: large amplitude motions, coupling the six degrees-of-freedom, instantaneous position, instantaneous wet surface, free surface effects and viscous drag force. The nonlinear dynamic responses are calculated by using numerical integration procedure in the time domain. After the time histories of the dynamic responses are obtained, we carry out cycle counting of the stress histories of the tethers with rain-flow counting method to get the stress range distribution.

Parametric studies of tension leg platform with large amplitude motions

Tension leg platform (TLP) is an important kind of working station for deep water exploration and development in ocean, whose dynamic responses deserve a serious thought. It is shown that for severe sea state, the effects of nonlinearities induced by large displacements of TLP may be noteworthy, and then employment of small displacements model should be restrained. In such situation, large amplitude motion model may be an appropriate alternative. The numerical experiments are performed to study the differences of dynamic responses between the two models. It is shown that for most cases, differences between results of the two models are significant. The variances of the differences vs. the wave period are the most remarkable, and that of the differences vs. wave heading angle are also apparent.