摘要Stewart平台的出现源于1965年德国学者Stewart发明的具有六自由度运动能力的并联机构飞行模拟器。目前经典的Stewart平台机构是由上、下两个平台和六个可伸缩支腿以及它们之间的连接铰链构成，其上平台通常为负载平台（Payload-platform）（即Stewart平台的工作平台），下平台通常为基台（Base-platform）。Stewart平台通过六个支腿的伸缩运动可以实现负载平台在工作空间范围内的六自由度运动，且具有精度高、刚度高、动态性能好、承载能力强等优点，因此近年来被广泛应用于振动隔离平台、并联机床和精密定位平台等方面。六自由度平台是一种用于模拟宇航飞行器、车载设备、飞机和舰船等运动姿态的实验设备，平台采用并联机构，液压驱动，由计算机实时控制，实现了横荡、垂荡、纵荡、纵摇、横摇、艏摇六个自由度的运动。本文专门为舰首炮设计一个以应用最为广泛的Stewart机构为原型的平台,主要完成了六自由度平台机械本体和液压系统的设计及其动力学仿真这三方面内容。49734

分析了平台的组成及其工作原理，并按照系统的性能指标、舰首炮的尺寸，选取了液压缸的型号，设计出满足要求的平台结构。验证了平台的自由度，用标准的运动副、驱动约束等要素构建与实际机械系统一致的物理模型。利用多体动力学软件ADAMS对舰首炮平台进行了仿真研究，得出了运动和动力学特性曲线，模拟机构在特定海况条件下的工作状态，为今后试验样机的设计研发提供参考。

毕业论文关键词：六自由度并联机构；Stewart平台；舰首炮； ADAMS仿真；液压系统

 Abstract The Stewart platform, which is 6-DOF parallel mechanism with two bodies connected together by six extensible legs through the joints, is generalized from the flight simulator proposed by Stewart in1965. The upper platform is known as the payload-platform which is always referred to as the work platform and the lower platform of a general Stewart platform is referred to as the base-platform. The Stewart platform can not only let its payload-platform move with 6-DOF in the workspace through the extension and contraction of the six legs, but also possesses the high precision, high stiffness, excellent dynamic characteristics, and high load. Therefore, The Stewart platform is widely used to realize the vibration isolation, the mechanical machining, and the precision positioning. The 6-DOF swing test platform is experimental equipment that is mainly used to simulate the kinetic posture of space flights, vehicles, airplanes and vessels. It adopts parallel mechanisms, hydraulic pressure drive and real-time control by the computer, and simulates turning, pitching and rolling, leeway, departing and landing of the warship. This paper specifically designed a platform for the bow chaser, and it mainly accomplished the design of mechanical body and hydraulic servo system, the analysis of dynamics.

The mechanical constitution and operating principle of the 6-DOF swing platform are analyzed. According to performance index of the system and the size of bow chaser, the models of constant force variable pump are selected. It analyzed freedom of mechanism. the paper carried on simulation with multi-body dynamics software ADAMS, got the kinematics and dynamics characteristics curve, simulate the state of the work institutions in specific processing conditions, to provide a reference for future experimental prototype design and development.

Key Words: 6-DOF parallel mechanism; Stewart platform; bow chaser; ADAMS simulation; hydraulic pressure system

目  录

第一章 绪论 1

1.1 研究背景与意义 1

1.1.1 研究背景 1

1.1.2 研究意义 ADAMS舰载并联6自由度升降平台虚拟样机设计:http://www.751com.cn/zidonghua/lunwen_52820.html