关键词: 4-UPS/CPC并联机构, 多维振动, 隔振, 调姿

Abstract:  A kind of multi-dimensional attitude adjustment and vibration isolation platform （MDAA&VIP） was presented for the wheel legged robot carriers. With 4-UPS/CPC parallel mechanisms as the main body and spring damping module as supplementary， the functions of attitude adjustment and vibration isolation were combined in the proposed MDAA&VIP to meet the needs of attitude adjustment and vibration isolation during the working processes of the carriers. Taking the combination of working space， static stiffness and dexterity as the objectives， and the structural parameters of the 4-UPS/CPC parallel mechanisms were optimized. The road spectrum model was established and the length of each limb needed to keep the upper platform horizontal was predicted by using the differential prediction algorithm when the carriers walked on the C-level roads. The effectiveness of the attitude adjustment function of the designed platform was verified by simulations. The vibration model of multi-dimensional vibration isolation system was established， and the vibration response of the system was studied by theoretical and simulation methods under forced vibrations. The results show that the isolation rates of the platform in five degrees of freedom directions are above 57%. The prototype of vibration isolation platform was designed and the experimental system was set up， and the vibration isolation experiments in X， Y and Z directions were carried out. The experimental results show that the designed MDAA&VIP has good vibration isolation performance， and the vibration isolation rates in the three test directions are more than 50%.

Key words:  , 4-UPS/CPC parallel mechanism, multi-dimensional vibration, vibration isolation, attitude adjustment.