CN102774481A - Parallel mechanism platform system for supporting bow gun - Google Patents

Abstract

The invention discloses a parallel mechanism platform system for supporting a bow gun. A parallel mechanism is applied on a supporting platform for the bow gun, so that the parallel mechanism platform system for supporting the bow gun, which has the advantages of high rigidity, high bearing capability, high precision and little error, is obtained, and the parallel mechanism platform system for supporting the bow gun can rapidly respond to the impact of external force, thus keeping the stability and accuracy of the firing of the bow gun. The applied parallel mechanism comprises an upper platform, a lower platform and six rods, and the six rods are connected with the movable platform and the static platform through spherical hinges. The upper platform is the static platform, and the stability of the upper platform can greatly increase the accuracy of the firing of the bow gun; the lower platform is the movable platform, and is connected with a ship body; and under the impact of stormy waves and other loads, no matter how violently the movable platform shakes, the static platform can be always kept steady under the adjustment and control of the six rods.

Description

Be used to support the parallel institution stage apparatus of bow chaser

Technical field

The present invention relates to the support platform apparatus of warship bow chaser, particularly a kind of support platform apparatus with warship bow chaser of parallel institution.

Background technology

Bow chaser is the core of warship, and the accuracy of its emission is related to the safety in national marine site, and in order to improve the stability and the accuracy of bow chaser emission, bow chaser has had higher requirement to its support platform.

At present; Bow chaser stable platform design major part all is to adopt the two degrees of freedom platform that can compensate boats and ships pitching and rolling; Adopt fluid power system; Several different methods such as utilization sensor device, servo control unit and dynamic positioning system (DPS) compensate the position and attitude error that causes because of extraneous labile factor, make the horizontal and vertical vibration on naval vessel obtain certain control.

Gyrostabilized platform is a most typical design plan, because characteristics such as it is simple in structure, high precision, low cost have obtained application on some weaponrys.In addition, the tenacious tracking platform based on micro-inertia sensor also is widely used in advanced weaponries such as some main battle tanks and the marine flat pad of guided missile.When but the naval vessel rides the sea; Owing to producing, the influence that receives various harsh environment factors such as wind, wave, tide rocks; Installed device bow chaser can be followed waving of naval vessel and existed tangible rolling, pitching and hammer to swing motion on it, and it is to be difficult to compensation that naval vessel these under higher sea situation wave significantly.Now a lot of naval vessel stable platform systems do not have the wave motion compensate function, it is reduced under mal-condition significantly wave and heave, say nothing of and can remain relative static conditions.Can influence the launch accuracy of bow chaser to a great extent like this, thereby restrict the high precision blow performance of bow chaser, thereby can not satisfy the demand of current development.

Therefore, need a kind of new technical scheme to address the above problem.

Summary of the invention

To above-mentioned existing in prior technology problem and shortage, the purpose of this invention is to provide a kind of parallel institution stage apparatus that is used to support bow chaser that improves bow chaser stability.

Be to realize that the parallel institution stage apparatus that above-mentioned purpose, the present invention are used to support bow chaser can adopt following technical scheme:

A kind of parallel institution stage apparatus that is used to support bow chaser, this parallel institution stage apparatus are installed on the naval vessel body and in order to carry bow chaser.

The present invention is compared with prior art: parallel institution is applied on the support platform of bow chaser; Obtained the parallel institution stage apparatus that is used to support bow chaser that a kind of rigidity is big, load-carrying capacity is strong, precision is high, error is little; External impacts be can respond fast, thereby the stability and the accuracy of bow chaser emission kept.The parallel institution that is applied to is made up of up and down two platforms and six roots of sensation bar, and six roots of sensation bar is connected with dynamic and static platform through ball pivot.Wherein upper mounting plate is a silent flatform, the stable accuracy that can improve the bow chaser emission greatly of upper mounting plate; Lower platform is a moving platform, link to each other with the naval vessel body, under the impact of load such as stormy waves, no matter moving platform wave again violent, through the adjusting and the control of six roots of sensation bar, can remain silent flatform steadily.

Description of drawings

Fig. 1 is the structural representation that is used to support the parallel institution stage apparatus of bow chaser.

Fig. 2 is the controlling schemes schematic diagram that is used to support the parallel institution stage apparatus of bow chaser.

Fig. 3 is the scheme drawing of control system that is used to support the parallel institution stage apparatus of bow chaser.

The specific embodiment

Below in conjunction with the accompanying drawing and the specific embodiment; Further illustrate the present invention; Should understand the following specific embodiment only be used to the present invention is described and be not used in the restriction scope of the present invention; After having read the present invention, those skilled in the art all fall within the application's accompanying claims institute restricted portion to the modification of the various equivalent form of values of the present invention.

Please combine shown in Figure 1; The parallel institution stage apparatus that the present invention is used to support bow chaser comprises in order to the silent flatform 1 (six degree of freedom silent flatform) that carries bow chaser 4, the moving platform 2 (six degree of freedom moving platform) that links to each other with naval vessel body (not shown) and the six roots of sensation bar 3 that is connected silent flatform 1 and moving platform 2; This six roots of sensation bar 3 is connected with moving platform 2 and silent flatform 1 through ball pivot (not label); 6 ball pivots of dynamic and static flat-bed lay respectively among two planes, and each movement branched chain is made up of two typed ball bearing pair and a moving sets.Be to adopt hydraulic-driven in the middle of the bar.Moving platform 2 receives foreign impacts along with the naval vessel and produces pitching, rolling and hammer to swing motion; The transmitter block (being the parallel institution silent flatform) that finally can realize bow chaser through each link of Fig. 2 control system schematic diagram is relatively stable; Thereby improve the launch accuracy of bow chaser, meet design requirement.

At present comparatively perfect for the analysis method of parallel institution, the support platform that parallel institution is applied to bow chaser can reach its stability fully.Below form three cover methods of system for the parallel institution kinematics analysis.

Time-vector method: time-vector method becomes easily and directly perceived inverse kinematic, and the relation of joint, passive joint and expected pose is very difficult but obtain initiatively.

The transformation matrix method: the transformation matrix method is set up Kinematic Analysis based on the D-H parameter, and it provides good condition for dynamics analysis, but inverse kinematic is difficult and not directly perceived.

The Lie algebra method: with the kinematic screw and the wrench of a force system is base quantity; With index mapping and commute computing is basic calculating; The index mapping is exactly the state-transition matrix in the state space analysis; Can introduce modern control theory in the control of parallel institution, commute computing (Lie bracket) is the popularization of trivector apposition.

Here set up the index mapping of forward kinematics solution by the Lie algebra method, adopted analysis method to solve the problem of inverse kinematic.Shine upon the Paden-kaha subproblem that is transformed to the height non-linear problem of the forward kinematics solution of parallel institution joint space through index, solved the difficult problem of the forward kinematics solution of parallel institution basically.And judge the driving that applies whether uncontrollable some motion, i.e. singular problem of Jacobi matrix with the Jacobi matrix of each branch.Through experiment and analysis, proved the correctness and the validity of these methods to the parallel institution of reality.

Clear and definite for narrating, each side chain and each kinematic pair are all numbered.Numbering to kinematic pair is following: θ _{I, j}(i=1...6, j=1...6).Wherein i represents i bar side chain, and j representes j kinematic pair counting from fixed platform.θ _{I, j}The joint variable of representing i bar side chain, a j kinematic pair can be a displacement of the lines, also can be angular transposition.And begin each rod member is numbered from fixed platform, the j kinematic pair connects j-1 member and j member.Member 0 is fixed platform, and member 6 is moving platform, and milling cutter can be regarded as with moving platform and captives joint.The joint space of this crossbar type parallel machine is made up of 36 variablees, and the configuration space of this crossbar type parallel machine is made up of 6 independent variables, can draw 36 joint variables thus and have only 6 to be independently, and 30 constraint conditions arranged.For the revolute pair joint variable is corner, θ _{I, j}∈ [0,2 π), all joint rotation angles are used displacement of the lines θ all in the right-handed system metrics to its joint variable of linear joint _{I, j}∈ R ¹Represent.

J kinematic pair direction vector of i bar chain be suc as formula (1), wherein P _{I, j}, P _{I, j+1}Be 2 points on j kinematic pair axis of i bar chain.The position vector of j kinematic pair axis of i bar chain is suc as formula (2), and wherein h is a screw pitch.The kinematic screw coordinate of j kinematic pair of i bar chain is suc as formula (3).The kinematic screw of j kinematic pair of i bar chain (it belongs to se (3) crowd) is suc as formula (4).The index mapping of j kinematic pair of i bar chain is suc as formula (5).Formula (6) is seen in the absolute coordinate system index mapping of i bar chain.6 * 6 the matrix that the absolute coordinate system Jacobian matrix of i bar chain is is seen formula (7), formula (8).Formula (9) is seen in the speed mapping of i bar chain joint space and working space.Formula (10) is seen in the mapping of the power that acts on i bar chain joint power and the cutter.

${\mathrm{\ω}}_{i,j}=\frac{(p_{i,j+1}-p_{i,j})}{|p_{i,j+1}-p_{i,j}|}---\left(1\right)$

v _i,j=-ω _i,j×p _i,j+h·ω _i,j (2)

ξ _i，j′=「v _i，j ^T，ω _i，j ^T] ^T (3)

${\widehat{{\mathrm{\ξ}}_{i,j}}}^{\′}=\left[\begin{array}{cccc}0& -{\mathrm{\ω}}_{i,j}\left[3\right]& {\mathrm{\ω}}_{i,j}\left[2\right]& v_{i,j}\left[1\right]\\ {\mathrm{\ω}}_{i,j}\left[3\right]& 0& -{\mathrm{\ω}}_{i,j}\left[1\right]& v_{i,j}\left[2\right]\\ -{\mathrm{\ω}}_{i,j}\left[2\right]& {\mathrm{\ω}}_{i,j}\left[1\right]& 0& v_{i,j}\left[3\right]\\ 0& 0& 0& 0\end{array}\right]---\left(4\right)$

gst(θ _i,1，θ _i,2，θ _i,3，θ _i,4，θ _i,5，θ _i,6)= (6)

sd _i，1·sd _i,2·sd _i,3·sd _i,4·sd _i，5·sd _i，6·gst0

${{\mathrm{\ξ}}_{i,j}}^{\′}=\left({\mathrm{Ad}}_{({\mathrm{sd}}_{i,1}\·{\mathrm{sd}}_{i,2}....{\mathrm{sd}}_{i,j-1})}\right)\·{\mathrm{\ξ}}_{i,j}---\left(7\right)$

J _i=[ξ _i,1′，ξ _i,2′，ξ _i,3′，ξ _i,4′，ξ _i,5′，ξ _i,6′] (8)

[v _x，v _y，v _z，w _x，w _y，w _z] ^T= (9)

[ξ _i,1′，ξ _i,2′，ξ _i,3′，ξ _i,4′，ξ _i,5′，ξ _i,6′]·[θ _i,1，θ _i,2，θ _i,3，θ _i,4，θ _i,5，θ _i,6] ^T

τ=[ξ _i,1′，ξ _i,2′，ξ _i,3′，ξ _i,4′，ξ _i,5′，ξ _i,6′]T·[f _i,1，f _i,2，f _i,3，f _i,4，f _i,5，f _i,6] ^T (10)

ξ in the formula _{I, j}' be the transient motion spiral of j kinematic pair of i bar chain, it is 4 * 4 matrix, is the element of Lie group.

is the index mapping of j kinematic pair of i bar chain, and it is 4 * 4 matrix.

is 6 * 6 adjoint transformation matrix, and the coordinate representation that is used for kinematic screw is tied to the conversion of another system of axes from a coordinate.

The main thought of the Paden-Kahan subproblem of parallel machine forward kinematics solution is that contrary be decomposed into that several have a clear and definite geometric meaning contrary separated of the kinematics of mechanism of a complicacy separated subproblem; Progressively solve then; Be about to the simple motion that a complicated motion is decomposed into several successive, each simple motion all can adopt the exponent product of motion spinor to represent.The Paden-kahan subproblem mainly contains 4 kinds.

(1) a bit rotates an angle θ around dead axle ξ.

(2) a bit intersect orderly axle rotation around two successively.

(3) a bit move a distance along dead axle.

(4) a bit successively around three concurrent aceses rotate in order apart from some certain distances the position, add an angle restriction and make kinematics direct problem become inverse problem, find the solution directly perceived and computing simple.

Six relative moving platforms of spherical hinge of moving platform are fixed; And confirm that space object moves; The line segment that needs three stationkeeping on the object, these three line segments have been confirmed its length by square Wu subproblem, but orientation does not each other embody; So subproblem 4 is not also confirmed to separate, the orientation of three line segments is confirmed through three angles between three line segments.Add that the normal solution of parallel institution can be obtained to three constraints through three inner products.

Adding man-hour at parallel machine is active variables owing to having only 6 bar length; It is counter separates algorithm just fast and directly perceived; Other passive joint variable can be known its situation of change through counter separating, and then can select the little path of acceleration/accel, and path planning just has the index of optimization to comply with; This anti-algorithm advantage of separating is a lot, than time-vector method and transformation matrix method superior part is arranged all.

The design solves the technical scheme that its technical matters adopts: naval vessel 6DOF stable platform is made up of two platforms up and down; Upper mounting plate is the silent flatform that bow chaser is installed; Lower platform is the moving platform that is fixed on the naval vessel, on upper and lower platform, sets up quiet system of axes and moving coordinate system respectively.Silent flatform and moving platform are the bar bonded assemblys that can stretch through 6, and flat-bed pose and one group of bar length are to concern one to one, and the driving of its king-rod adopts the hydraulic efficiency servo of being made up of sensor, hydraulic actuating cylinder, hydraulic valve and control system to realize.When the naval vessel rides the sea or during combat exercise; Receiving factor impacts such as extraneous wind, wave can rock; The moving platform that is fixed on this moment on the ship deck is followed the corresponding motion of naval vessel do; Can obtain moving platform corresponding kinematic and dynamics data in its moving coordinate system through equipment such as displacement pickup, acceleration pick-up and monitoring devices; Be converted in the data in system of axes through rotation matrix, guaranteeing to obtain cooresponding bar long data through Computer Processing under the static relatively situation of upper mounting plate maintenance.Like this, the pose that pairing bar length is reconciled silent flatform in the time of can be through at a time pose of real-time control naval vessel keeps static relatively.Asking bar length by the pose of motion platform is the parallel institution inversion process; Importing one group of bar length, to ask the pairing pose of platform be the normal solution problem of parallel institution; In fact the parallel institution stage apparatus design-calculated thought that supports bow chaser is to calculate feedback again through normal solution input control by contrary separating earlier; Here be to guarantee that upper mounting plate can keep under the static relatively condition; Try to achieve the pairing 6 due length of bar of given one group of moving platform pose, again the variation of 6 bars length is controlled conversely and satisfied the stable of upper mounting plate.

Making even, the center of a ball pivot is the origin of coordinates on the platform, is the X axle with the ball pivot center to the line at silent flatform center, and the vector that points to moving platform with silent flatform is the Z axle, confirms the Y axle with right-hand rule, sets up the entire mechanism system of axes with this.

Moving coordinate system O-XYZ build on the moving platform, and quiet system of axes O '-X ' Y ' Z ' is fixed on the silent flatform.Arbitrary vectorial R ' in moving coordinate system can transform in the quiet system of axes through coordinate transformation method.The coordinate transform formula

R=[T]R′+P

Wherein: T is the direction cosine matrix of silent flatform attitude, and P is the coordinate of moving coordinate system initial point in fixed coordinate system.

Therefore, 6 drive rod long vector l _iCan in quiet system of axes, be expressed as

$l_i=a_i-b_i=\left(\begin{array}{c}{l}_x{b}_{\mathrm{ix}}+m_x{b}_{\mathrm{iy}}+X_P-a_{\mathrm{ix}}\\ l_y{b}_{\mathrm{ix}}+m_y{b}_{\mathrm{iy}}+Y_P-a_{\mathrm{iy}}\\ l_z{b}_{\mathrm{ix}}+m_z{b}_{\mathrm{iy}}+Z_P\end{array}\right)(i=\mathrm{1,2,3,4,5,6})$

Thereby accounting equation is found the solution in the position that obtains mechanism

$l_i=\sqrt{{{\mathrm{<figure-callout\; id="2"\; label="l\; ix"\; filenames="120709153959.png"\; state="\{\{state\}\}">l</figure-callout>}}_{\mathrm{ix}}}^2+{{\mathrm{<figure-callout\; id="2"\; label="l\; iy"\; filenames="120709153959.png"\; state="\{\{state\}\}">l</figure-callout>}}_{\mathrm{iy}}}^2+{l_{\mathrm{iz}}}^2}(i=\mathrm{1,2,3,4,5,6})$

Following formula is 6 independently explicit equations; Behind the position and attitude of the leading dimensions of known mechanisms and moving platform; Just can utilize following formula under for the situation that keeps the static relatively requirement of silent flatform, to obtain the displacement of 6 actuators, and then confirm the characteristics of motion that each bar should satisfy.Its main thought is that the coordinate of each hinge-point in the moving coordinate system is transformed to the coordinate representation in the quiet system of axes through coordinate transformation method; Just can obtain the pose that length that each bar should satisfy just can make silent flatform keep relative stability, can realize this goal through long variation of real-time control stalk then.

Fig. 2 is the system control scheme schematic diagram that Fig. 1 parallel institution can be realized required function.During ship navigation; Exciting factors such as extraneous wind, wave produce to impact to hull its generation are waved, because moving platform is fixed on the ship deck, rocks and change attitude so moving platform can the same loss of stability with the naval vessel produces to wave; Produce variations such as displacement, speed, acceleration/accel; These data pass to control system by sensor, and control system combines data such as the attitude of moving platform data and silent flatform, displacement, speed gauge acceleration/accel and draws corresponding conclusion and judgement, and servomotor controller is sent corresponding order; Drive long variation of bar of 6 connecting rods by the pilot control device; Adjust the pose of silent flatform indirectly through adjusting 6 bars length, and make whole process coordinating running, guarantee that finally silent flatform is relatively stable through certain feedback mechanism; Thereby bow chaser can hard to bear extraneous sea conditions be disturbed reduction even avoid interference, given play to its due target to greatest extent and hit precision.

Fig. 3 is the parallel institution control system; It is that displacement, the speed of a plurality of execution units (each kinematic axis) with mechanism are controlled object in essence; And it is static that its silent flatform is remained; Give bow chaser a highly stable launch environment, and be a kind of computer control system of being furnished with special-purpose adaptive system.Form by input-output equipment, numerical control device, actuating device and transposition.The groundwork of parallel institution platform is through various input modes; Receive the various data messages of moving platform; Through the decoding of CNC device, carry out processing, the computing of computing machine again, convert the amount of exercise of each bar into and deliver to the driving circuit of each bar; Remove to drive servomotor torque constant through conversion, amplification, drive each bar motion.And carry out the real time position controlled reset, and finally make fixed platform relatively stable, create a good condition for the emission of carrier-borne big gun.

The function of CNC device is meant the ways and means that satisfies user's operation and Machine-Tool Control requirement.Comprise: basic function and selection function.The function of CNC mainly is reflected on preparatory function G command code and the additional function M command code.Preparatory function comprise basically move, program halt, plane selection, setting coordinate, cutter compensation, bench mark return, fixed cycles and metric and English conversion etc.Additional function comprises the switch of main shaft start-stop, spindle rotating direction, cutting compound or the start-stop of tool magazine etc.Comprise feed function, interpolation function, compensate function, programming function, character graphics Presentation Function, I/O and communication function in addition and realize self-diagnostic function of failure prediction and fault localization etc. automatically.

Servo drive system be with the position of parallel institution moving-member and speed as the autonomous cruise speed system of controlled object, claim follow-up system or dragging system again.Fu receives the feeding pulse from interpolating device or interpolation software; Signal transformation that process is certain and voltage, power gain; Being translated into the motion of 6 bars with respect to reference system, mainly is to realize through the control to feeding driver elements such as stepping motor, servomotors.It is the connecting link between digital control system and the parallel institution drive disk assembly; It is the important component part of the parallel institution of carrier-borne big gun flat pad; The position command that it generates the interpolation operation of digital control system; Be transformed to the motion of carrier-borne big gun flat pad movable parts accurately, directly reflected instruction of parallel institution pursuit movement and actual location performance.The performance of Fu has determined efficient, the precision of numerically-controlled machine tool to a great extent, and it comprises mechanical drive, electric driving, detection, automatic guidance etc.The Fu of carrier-borne big gun flat pad parallel institution satisfies requirements such as response characteristic is quick, speed adjustable range is big, precision is high, system reliability is good.

The D/A change-over circuit of parallel institution flat-bed position control output precision is made up of buffer register, binary counter, numerical value detector, directional control circuit control circuit, comparison amplifier five parts.The digital signal that its receiving sensor receives impact load and transforms into is with the form output aanalogvoltage of pulse duration modulation.Buffer register is deposited 16 (radio-minus-one complement form) binary signals of expression tracking error.Each sampling period, send a sampling pulse, with data on the data bus and symbol, read in buffer register.Binary counter is a up counter; Send into binary counter after the tracking error of buffer register is delayed, the most significant bit of counting machine is a sign bit, is used to control direction; After data are inserted; The beginning plus coujnt, when counting machine overflowed in addition, pulse count that counting machine is counted equaled the tracking error absolute value.Pulse width is directly proportional with tracking error.After numerical value becomes pulsewidth, through two NAND gate outputs that sign bit signal control is arranged, just can distinguish direction again.Sign bit is 0, and square-wave signal has anode output; Otherwise, export by negative terminal.Signal gets into comparison amplifier then, output direct current command voltage signal, and its amplitude is represented the tracking error size.

After the parallel institution platform is handled through chip, through the D/A conversion, again through the motion of position control unit control servomotor torque constant.The photoimpact coder of installing on the motor produces train pulse along with motor rotates.This pulse feeds back to chip through receptor, then it is divided into two-way.One tunnel feedback as position quantity, the one tunnel through the voltage to frequency conversion, is sent to speed control unit as the feedback signal of speed amount.Only to need to be transformed to the line amount to corresponding angular metric just passable if be used for controlling linear servo-actuator for this chip.

In addition; Emission coefficient for bow chaser is formed with continuous bullet gun tube and barrel by sending out the bullet gun tube basically; Through gun tube is carried out kinematics and dynamics analysis, can make the swing rotation of two gun tubes realize zero collision, with the motion that reduces gun tube platform is caused bigger impact.

Claims (7)

1. parallel institution stage apparatus that is used to support bow chaser is characterized in that: this parallel institution stage apparatus is installed on the naval vessel body and in order to carry bow chaser.

2. the parallel institution stage apparatus that is used to support bow chaser as claimed in claim 1; It is characterized in that: comprise silent flatform, the moving platform that links to each other with the naval vessel body in order to the carrying bow chaser and be connected silent flatform and the six roots of sensation bar of moving platform, this six roots of sensation bar is connected with moving platform and silent flatform through ball pivot.

3. the parallel institution stage apparatus that is used to support bow chaser as claimed in claim 2 is characterized in that: the driving of bar adopts the hydraulic efficiency servo of being made up of sensor, hydraulic actuating cylinder, hydraulic valve and control system to realize.

4. like claim 1 or the 3 described parallel institution stage apparatus that are used to support bow chaser; It is characterized in that: also be provided with in order to control the parallel institution control system that this is used to support the parallel institution stage apparatus of bow chaser, this parallel institution control system is made up of input-output equipment, numerical control device, actuating device and transposition.

5. the parallel institution stage apparatus that is used to support bow chaser as claimed in claim 4; It is characterized in that: also be provided with in order to control the control output precision that this is used to support the parallel institution stage apparatus of bow chaser, the D/A change-over circuit of said control output precision is made up of buffer register, binary counter, numerical value detector, directional control circuit control circuit, comparison amplifier five parts.

6. the parallel institution stage apparatus that is used to support bow chaser as claimed in claim 1 is characterized in that: establish moving coordinate system O-XYZ and build on the moving platform, quiet system of axes O'-X'Y'Z' is fixed on the silent flatform; Arbitrary vectorial R ' in moving coordinate system can transform in the quiet system of axes through coordinate transformation method; The coordinate transform formula

R=[T]R′+P

Wherein: T is the direction cosine matrix of silent flatform attitude, and P is the coordinate of moving coordinate system initial point in fixed coordinate system;

Therefore, 6 drive rod long vector l _iCan in quiet system of axes, be expressed as

$l_i=a_i-b_i=\left(\begin{array}{c}{l}_x{b}_{\mathrm{ix}}+m_x{b}_{\mathrm{iy}}+X_P-a_{\mathrm{ix}}\\ l_y{b}_{\mathrm{ix}}+m_y{b}_{\mathrm{iy}}+Y_P-a_{\mathrm{iy}}\\ l_z{b}_{\mathrm{ix}}+m_z{b}_{\mathrm{iy}}+Z_P\end{array}\right)(i=\mathrm{1,2,3,4,5,6})$

Thereby accounting equation is found the solution in the position that obtains mechanism

$l_i=\sqrt{{l_{\mathrm{ix}}}^2+{l_{\mathrm{iy}}}^2+{l_{\mathrm{iz}}}^2}(i=\mathrm{1,2,3,4,5,6}).$

7. the parallel institution stage apparatus that is used to support bow chaser as claimed in claim 5; It is characterized in that: said moving platform can be the same with the naval vessel loss of stability produce to wave and rock and change attitude; Produce displacement, speed, acceleration change; Sensor is set displacement, speed, acceleration information are passed to control system; Control system combines data such as the attitude of moving platform data and silent flatform, displacement, speed gauge acceleration/accel and draws corresponding conclusion and judgement; Servomotor controller is sent corresponding order, and the bar length that is driven 6 connecting rods by the pilot control device changes, and makes silent flatform relatively stable through the poses of adjusting the long adjustment indirectly of 6 bars silent flatforms.

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