深海采矿装置六维运动补偿器的运动学分析
Kinematic Analysis of a 6-DOF Compensator for Deep-Sea Mining
本文针对深海采矿船的运动形式，提出了用6-UPS 结构Stewart平台用作为其补偿器平台。并且运用matlab中的M函数与simulink联合仿真，对其运动学进行分析，得出了液压缸需要的伸缩范围，最大、最小速度，及最大、最小加速度，为以后的动力学分析、控制程序的编制提供一定的基础。
In this paper, the author suggests to use a 6-UPS Stewart platform for the deep-sea compensator related to the movement styles of the deep-sea mining boat. Then use M functions and simulink tools in matlab to simulate the kinematics of the compensator. Through the kinematic analysis, get the results of the maximum and minimum lengths, velocities, and accelerations. These results will give some bases on the coming dynamic analysis and control of the compensator.
刘国军
矿山机械
深海采矿6-UPS结构Stewart平台补偿器仿真运动学分析
deep-sea mining6-UPS Stewart platform compensatorsimulationkinematic analysis
刘国军.深海采矿装置六维运动补偿器的运动学分析[EB/OL].(2008-08-04)[2025-08-02].http://www.paper.edu.cn/releasepaper/content/200808-26.点此复制
评论