Abstract
Considering the attitude stabilization requirements for an unmanned marine platform equipped with electro-optic detection equipment, a stabilized platform based on a 2-DOF parallel mechanism has been designed. The stabilized platform, especially for the requirements of small space and high load inertia, has such transmission branch chain with fixed ball-screw. The structure, DOF and kinematics of the platform has been analyzed, besides, the mathematical model of the platform's attitude inverse solution has been established. Numerical simulation for the derivate mathematical model and ADAMS simulation analysis has been done. In order to verify the correctness of the mathematical model, the motion process of the load-platform is described by a time function. The time function of the drive components calculated from the above two ways is used for the comparison of numerical simulation and ADAMS simulation. The results prove that the mathematical model established in this paper and ADAMS simulation results coincide.
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