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.

摘要： 提出了一种用于轮腿式机器人载运车的多维调姿隔振平台，该平台以4-UPS/CPC并联机构为主体，辅以弹簧阻尼模块，将调姿与隔振功能相结合，以满足载运车在工作过程中的姿态调整和隔振需求。以并联机构的工作空间、静刚度和灵巧度为目标，进行了4-UPS/CPC并联机构结构参数的优化设计；建立了路面谱模型，使用差分预测算法对载运车在C级路面上行走时保持上平台水平所需的支链长度进行了预测，通过仿真验证了所设计平台调姿功能的有效性；建立了多维隔振系统的振动模型，采用理论及仿真方法研究了系统在受迫振动下的振动响应，结果表明，隔振平台在5个自由度方向的隔振率均在57%以上；设计了隔振平台样机，搭建了实验系统，并进行了X、Y和Z方向的隔振实验，实验结果表明，所设计的多维调姿隔振平台在测试的3个方向上的隔振率均在50%以上，具有良好的隔振性能。

关键词: 4-UPS/CPC并联机构, 多维振动, 隔振, 调姿