Designing and Simulating Heavy-load 6-DOF Hybrid Mechanism Pose Adjustment Platform

李鸽; 李宇; 瓮松峰; 万浩; 罗大兵

doi:10.13433/j.cnki.1003-8728.20230077

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Designing and Simulating Heavy-load 6-DOF Hybrid Mechanism Pose Adjustment Platform

更新时间：2026-07-10

- Designing and Simulating Heavy-load 6-DOF Hybrid Mechanism Pose Adjustment Platform
- Mechanical Science and Technology for Aerospace Engineering Vol. 43, Issue 10, Pages: 1647-1653(2024)
- 作者机构：
  
  1. 西南交通大学机械工程学院,成都,610031
  2. 中国核动力研究设计院机构核反应堆系统设计技术重点实验室,成都,610213
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230077
  CLC： TH122
- Published：2024
- 稿件说明：
移动端阅览
李鸽, 李宇, 瓮松峰, et al. Designing and Simulating Heavy-load 6-DOF Hybrid Mechanism Pose Adjustment Platform[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(10): 1647-1653.
DOI：

李鸽, 李宇, 瓮松峰, et al. Designing and Simulating Heavy-load 6-DOF Hybrid Mechanism Pose Adjustment Platform[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(10): 1647-1653. DOI： 10.13433/j.cnki.1003-8728.20230077.

摘要

为保证重型装备模块间的接口组对

针对低速重载且对接安装位置低的特殊工况

设计了一种结构紧凑且能实现六自由度运动的混联机构调姿平台。对调姿平台的运动机构和整体结构进行了设计

提出了一种由空间机构与平面机构相结合的六自由度混联调姿平台; 基于坐标变换理论进行运动学分析

建立出空间姿态变化与液压缸活塞杆运动关系的反解数学模型; 利用MATLAB/Simulink建立反解理论模型

同时基于SimMechanics搭建参数化虚拟样机模型并与Simulink进行联合仿真。结果验证了运动学模型的正确性与运动机构的可行性。

Abstract

In order to ensure the interface pairing between heavy equipment modules

a hybrid mechanism pose adjustment platform with compact structure and 6-DOF (six degrees of freedom) motion is designed for the special working conditions of low-speed

heavy-load and low-docking installation position. Firstly

the kinematic mechanism and overall structure of the pose adjustment platform are designed

and a 6-DOF pose adjustment platform combining the space mechanism and the plane mechanism is proposed. Secondly

based on the coordinate transformation theory

the kinematics analysis is carried out

and the inverse solution mathematical model of the relationship between the spatial pose change and the movement of the piston rod of the hydraulic cylinder is established. Finally

the inverse solution theoretical model is established with the MATLAB/Simulink

and the parameterized virtual prototype model is built based on SimMechanics

which co-simulates with Simulink. The simulation results verify the correctness of the kinematic model and the feasibility of the kinematic mechanism.

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