Xiao Liu, Erjuan Luo, and Lei Jia
Rigid-body acceleration, multi-rigid-body system, parallel mechanism, dynamics analysis, stabilized platform
A new approach for analysing dynamics of complexity multi-rigid- body systems is proposed in this paper, and it is applied to the study of a parallel inertial stabilized platform. Firstly, based on six-dimensional representation of rigid-body acceleration, an acceleration transformation relationship of different rigid bodies is given, and a method of acceleration adjoint transformation in multi-rigid-body systems is established. Similarly, the mapping relationship representing the coordinates of a point to its acceleration is developed, and a method of acceleration adjoint mapping of multi-rigid-body systems is established. Then, the method is extended to the application of a parallel ship-based stabilized platform, the motion relationship among bodies is deduced, and the dynamic model of the parallel ship-based stabilized platform in a non-inertial frame is built. An algorithm of velocity and acceleration correction for safe landing of helicopter is presented. Finally, the method is verified by analysing the virtual prototype. A bridge for six-dimensional rigid-body acceleration from theory achievements to practical application is built, theoretic support for developing sterility control strategies and producing prototype is provided.
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