摘要
Abstract
Aiming at the problem that the image acquisition quality of the tunnel visual inspection system decreases significantly when the vehicle was moving at high speed,and combining with the current situa-tion that the comprehensive research on the type synthesis of parallel stabilized platforms for highway tun-nel detection was less and the traditional kinematic models of parallel stabilized platforms were all estab-lished in the inertial coordinate system,a disturbance isolation scheme based on the parallel stabilized plat-form was proposed to ensure the stability and clarity of image acquisition.Firstly,the influence of tunnel structure parameters and vehicle body posture on the performance of the visual system was analyzed through field tests.Based on this,the comprehensive principles for the configuration of the parallel vehicle-mounted stabilized platform were formulated.A 2SPR/RPS parallel mechanism with 2-DOF tran-sitional and 1-DOF rotational was designed,and its coupled motion characteristics were analyzed.Sec-ondly,based on the spinor description of rigid body motion and the coupled pose transformation relation-ship between inertial and non-inertial frames,a six-dimension motion description of the motion platform in non-inertial frames was established,and the kinematic model of the parallel vehicle mounted stabilized platform in non-inertial frames was derived.Finally,the platform structure and motion parameters were determined based on the developed tunnel detection system,and the correctness of the theoretical analysis was verified through numerical calculations and semi-physical simulations.The results show that the 2SPR/RPS parallel vehicle-mounted stabilization platform mechanism designed in this paper can effec-tively compensate for the impact of external disturbances such as lateral shift,lifting,and rolling on the tunnel visual inspection system.The proposed non-inertial frame coupled kinematic modeling method pro-vides an effective solution path for the kinematics problems of complex spatial multi-rigid-body systems.However,parallel mechanisms have disadvantages such as large space occupation and high energy con-sumption,it is necessary to repeatedly optimize the structural dimensions and select the best servo electric cylinders and other components in order to achieve engineering applications.关键词
视觉检测/并联机构/稳定平台/构型综合/运动分析/非惯性系Key words
vision detection/parallel mechanism/stabilized platform/type synthesis/kinematics analy-sis/non-inertial system分类
信息技术与安全科学
