Modeling and simulation of six degrees of freedom marine stable platform

A kinematic model of the 6-UCU type parallel stabilized platform based on the closed vector method is established for the problem that it is difficult to install the motion measurement unit in the lower platform center of the parallel stabilized platform in practical engineering applications. The theoretical analysis of the kinematic inverse and positive solution problems was carried out, and the parametric models of the parallel stabilized platform and the wave simulation platform were established under the ADAMS environment using the virtual prototype technology, and the dynamic simulation experiments were conducted to obtain the kinematic simulation results and the driving force variation diagrams of the driven joints. Finally, the multi-body dynamics simulation model of the platform is built in Simulink/Multibody for dynamic simulation and compared with ADAMS simulation results. The simulation results show that the simulation model of the stable platform built by Simulink/Multibody is more accurate, which provides a more convenient platform for the theoretical analysis of the kinematics and dynamics of the stable platform and provides a theoretical basis for further research of the control algorithm.