摘要
为了提高高速风洞试验的可靠性,设计了一种适用于支撑外挂物模型的六自由度机构并提出一种尾支杆变换后姿态角的补偿方法。通过串联机器人正向运动学的指数积(POE)公式,推导出机构在模型质心与机构旋转中心重合和不重合两种情况下的运动学正解公式,并给出不重合情况下不解耦姿态角的补偿量。激光跟踪仪标定试验证明该补偿方法具有可行性,从而为实现机构的轨迹规划及实时控制提供了理论基础。
To improve reliability of high speed wind tunnel tests,a wind tunnel 6-DOF mechanisms were designed,and an attitude angle compensation method was put forward when support stings were transformed.In two cases of the model centroid and the mechanism rotation center with or without coincidence,the kinematics formula was proposed based on POE of the serial robots.And then without coincidence,the compensation rate of the model decoupling attitude angles was given.The laser tracker calibration experiments prove the feasibility of the compensation method and provide theoretical basis for trajectory planning and real time control.
作者
孙琦
谢志江
吴经纬
李晟
宋宁策
SUN Qi;XIE Zhijiang;WU Jingwei;LI Sheng;ONG Ningce(State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing,400044)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2018年第6期682-687,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(U1530138)
关键词
风洞试验
六自由度机构
指数积
运动解耦
标定试验
wind tunnel test
6-DOF mechanism
product of exponential(POE)
decoupling motion
calibration experiment
