并联机构具有结构刚度大、承载能力强、运动惯性小等优点，在重载高精度舰载稳定平台研发中具有广阔的应用前景，舰载稳定平台是处于非惯性系环境中的复杂多刚体系统。本项目以面向舰载手术稳定平台等领域为核心，重点对非惯性系并联式多轴动态稳定平台系统的动态特性机理、动态结构参数优化方法及柔顺动载协调分配等问题进行研究。主要研究内容为：提出了一种新型动态稳定平台机构，发挥并联机构优点；考虑输入力、惯性力、关节粘性阻尼等，研究其动力学模型，给出各动态性能评价指标的分布规律；提出一种基于多参数平面模型技术的多目标概率参数设计方法，弥补结构参数优化方法的不足，研制试验样机；提出一种基于蒙特卡洛技术的冲击动载协调分配优化方法及阻抗式柔顺控制方法，考虑能耗最低、时间最快的情况下，给出最优输入组合及其柔顺控制模型；对这种动态稳定平台系统的动态特性进行试验研究。研究成果为动态稳定平台系统的应用奠定基础。

The dynamic parameters optimum and optimized energy distribution methods for Stabilizing Platform in Non-inertial System are analyzed. A novel Stabilizing Platform is proposed, and the Stabilizing Platform owns advantages of simple structure, lower inertia and high payload capacity etc. Then the global dynamics performance evaluation are researched based on the dynamics performance evaluation analysis, and the distribution of the global dynamics performance evaluation are described. The global dynamics performance evaluation index is researched based upon the plane model of solution space for multiple parameters, and the distribution of the dynamics performance evaluation index is drawn. Third, the statistics parameters dynamics optimization based on the plane model of solution space for multiple parameters and the plane model of solution space for multiple parameters are proposed, and the Stabilizing Platform is designed by using the statistics parameters dynamics optimization based on the plane model of solution space for multiple parameters. Fourth, the optimized energy distribution methods for Stabilizing Platform is proposed, and the optimum input of the mechanical arm are developed based upon the lowest energy consumption and the fastest. Fifth, in order to reduce the impact damage, a impedance compliance control method is proposed, and Compliance control model is developed. At last, the dynamics test is developed, in which the dynamics test will be verified the theory analysis. The present analysis provide the base for the applications of the Stabilizing Platform.