舰载、车载和机载光电设备工作时需要绝对水平的环境,为消除运动载体摇摆对光电设备的影响,提出了一种二自由度并联稳定平台方案。应用拓扑理论,分析了并联稳定平台的输出特征矩阵和耦合度,并从工程化、实用化的角度考虑,通过布局方案的优化得到了含有四条主动支链和一条从动支链的并联稳定平台。采用矢量代数法,建立了并联稳定平台的运动学正模型和运动学逆模型,进行了并联稳定平台的运动仿真研究。分析结果验证了该平台布局方案的可行性和运动学模型的正确性。

A scheme on two degrees of freedom parallel stabilization platform was put forward in order to eliminate the impact of carrier-ordering motion on photoelectrical devices and provide the absolutely-horizontal environment. Based on mechanism topological theory, output characteristic matrix and coupling degree of parallel stabilization platform were analyzed. From the practical point of view, the parallel stabilization platform was found through the optimization of layout scheme, which consisted of four active chains and one driven chain. Using the vector-algebra method, kinematics model of parallel stabilization platform was established and motion simulation was carried out. The results demonstrate the feasibility of platform layout scheme and the correctness of kinematics model.