基于4-PSE并联机构的地质沉积模拟平台运动学分析

基于4-PSE并联机构设计了一种可进行全方位调姿运动的地质沉积模拟平台,对其运动学特性进行了研究。结合模拟平台的工作原理,对4-PSE并联机构的自由度进行了计算,推导了模拟平台的运动学方程。在ADAMS中建立模拟平台的虚拟样机模型,利用运动学仿真结果对其运动学参数进行了理论验证。对模拟平台的工作空间约束条件分析,求得其工作空间,绘制了相关结构参数对工作空间的影响曲线。研究结果为后续地质沉积模拟平台的多块平台组合系统实验提供了理论基础。

Kinematics Analysis of Geological Sedimentation Simulation Platform Based on 4-PSE Parallel Mechanism

Based on the 4-PSE parallel mechanism, a geological sedimentation simulation platform with omnidirectional attitude adjustment is designed, and its Kinematics characteristics are studied. Combined with the working principle of the simulation platform, the degrees of freedom of the 4-PSE parallel mechanism were calculated, and the Kinematics equations of the simulation platform were derived. The virtual prototype model of the simulation platform is established in ADAMS, and its Kinematics parameters are theoretically verified using the Kinematics simulation results. Analyze the workspace constraints of the simulation platform, obtain its workspace, and draw the influence curve of relevant structural parameters on the workspace. The obtained research results provide a theoretical basis for the structural design optimization of subsequent geological sedimentation simulation platforms and the combination of multiple platforms.