4UPS-1U并联型光电设备稳定平台是针对光电跟踪系统需要而设计的一种新型并联机构,具有两个独立的转动自由度。以平台的任意UPS驱动分支为研究对象,分析了并联稳定平台的UPS驱动分支的运动情况,推导了UPS驱动分支各构件速度与动平台速度之间的关系。采用牛顿-欧拉法建立了并联稳定平台的动力学模型,进行了其运动控制仿真研究。仿真结果表明:该并联稳定平台能够补偿运动载体带来的纵横摇偏差,可以提供给光电设备工作时需要的绝对水平环境。

As a novel lower-mobility parallel mechanism, the 4UPS-1U parallel photoelectrical device stabilization platform was designed, which has two independent degrees of rotational freedom. Taking the UPS driving branch as the study object, the movement on UPS driving branch of parallel stabilization platform was analyzed and the velocity relationship between components of UPS driving branch and moving platform was derived. Using Newton-Euler method, dynamic model of parallel stabilization platform was established. Finally motion control simulation was carried out. The results show that the platform can compensate the pitching and rolling deviation caused by the moving carrier and provide the absolute-level environment which the optoelectronic devices need when they work.