摘要
为提高导弹位标器快速跟踪能力,提出一种新型位标器结构,稳定平台采用球面并联五杆机构形式。建立其运动正反解模型,分析其跟踪场大小和两通道耦合度和线性度。结果表明,该新型位标器两通道耦合少、离轴角大。其外框架运动呈线性,内框架与两通道存在弱耦合。该机构技术上可行,可减轻电机负载,提高跟踪速度。
In order to improve the tracking capacity of seekers, a new structure of gyro stabilization platform is proposed based on a 2-DOF five-bar spherical parallel mechanism. The forward kinematics and inverse kinematics are studied. The size of tracking field and the coupling and linearity between two channels are analyzed. It is shown that coupling between the channels is weak and the off-axis angle ranges are large enough. The angular motion of the outer framework is linear to the corresponding angular input, while the one of the inner framework is nearly linear to the corresponding angular input. The presented design is demonstrated feasible that leads to low torque requirement and fast tracking response.
出处
《弹箭与制导学报》
CSCD
北大核心
2009年第2期34-36,共3页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
航空科学基金(20060157001)
上海交通大学PRP项目(T02111006)资助
关键词
稳定运动平台
运动正反解
奇异性
跟踪场
线性度
gyro stabilization platform
forward and inverse kinematics
singularity
tracking field
linearity
