摘要为了应对各种各样的海况，在生产船舶设备时需要对设备进行更充分、更多样的海上模拟实验，摇摆试验台由此诞生了。为了提高实验效率，节约成本，摇摆实验台开始向着多功能方向发展。本文在此背景下设计了一种多功能摇摆实验台，具有三个自由度，用来模拟设备在海上的横摇、纵摇和升沉运动，对船舶设备进行性能验证。51258

本文首先对摇摆台的性能指标进行分析，提出整体方案，选择合适的并联结构，再利用螺旋理论对所选结构进行自由度分析，同时根据一些空间机构设计理论，对摇摆台的运动姿态进行位置正解和反解分析，并推导出速度、加速度计算公式，继而以此为基础对试验台的机械本体进行具体结构设计。

经过一系列的理论计分析和受力计算，本文初步设计出三自由摇摆台的机械结构，并能较好地完成所需的横摇、纵摇和升沉运动，基本达成了设计目的。

毕业论文关键词：三自由度摇摆台；并联结构；结构设计  

Abstract In order to cope with a wide range of sea conditions, in the production of marine equipment when the equipment needs more fully, more perse maritime simulation experiments, swing test rig was born. To improve the experimental efficiency, cost savings, rocking bench started toward the multi-direction. In this context, this paper designed a versatile swing bench, with three degrees of freedom, is used to simulate the device at sea roll, pitch and heave motion of the ship equipment performance verification.

This article first swing sets performance indicators analyzed, the overall program, select the appropriate test rig structure, re-use screw theory analysis of the selected structure of freedom, but also with some space mechanism design theory, the rocking motion posture station location positive solution and inverse solution analysis, and derive velocity, acceleration formula, and then as a basis for the test-bed for the specific design of the mechanical body.

After a series of theoretical analysis and total force calculation, this preliminary design stage of three free-swinging mechanical structure, and can better accomplish the desired roll, pitch and heave motion, basically reached the design purpose.

Keywords:Three DOF platform；Parallel structure；Structural design

目  录     

第一章 绪 论 1

1.1 选题的背景和意义 1

1.2 摇摆试验台的研究现状和发展趋势 1

1.2.1 国内外摇摆台研究现状 1

1.2.2 发展趋势 2

1.3 摇摆实验台的结构形式 3

1.3.1 串、并联结构比较 3

1.3.2 摇摆试验台的几种结构形式 3

1.4 课题研究的主要内容 6

第二章 三自由度摇摆台整体方案 7

2.1 引言 7

2.2 三自由度摇摆台性能指标 7

2.3 摇摆台的整体设计 7

2.3.1 机械结构 7

2.3.2 驱动方式 8

2.3.3 角度检测和安全保护 9

2.4 本章小结 10

第三章 三自由度摇摆台的基本理论 11

3.1 引言 11

3.2 机械零件设计的基本准则