摘要
为保证较高稳定精度水平,整体式光电稳定平台一般采用力矩电动机直接驱动方式,导致稳定平台的负载自重比有限,难以满足未来无人机等轻型载体的应用需求。在研究柔索传动基本构型的基础上,提出一种基于柔性绳传动的差动结构平台设计方案,分析差动构型特点、工作原理和拓扑结构。采用有向图方法,通过图形表达的方式研究复杂差动绳传动系统运动学规律,得到输入与输出的定量关系式。研究输入端和负载端的动力传递与映射关系,分析表明差动构型的实质是对驱动件输入力矩放大合成后进行再分配,可有效提高系统的带负载能力。理论分析表明基于差动绳传动的稳定平台可实现两轴的运动和动力传递与控制,证明了方案的可行性。这种新型传动构型的应用将减轻平台自重、增大输出力矩,这为稳定平台的设计提供了新的参考。
In order to guarantee higher stability precision, torque motors are generally employed to drive the integrated gimbal frames of the photoelectric stabilized platform directly. This leads to a lower load/self-weight ratio and makes it difficult to meet the requirement of light-weighted carriers like the unmanned aerial vehicle(UAV) in the future. A design scheme of inertially stabilized platform based on differential cable-driven mechanism is proposed based on the overview about the basic style of cable drive. Firstly, the topological structure, operating principle and structural features are analyzed. The kinematics is further studied to describe the quantitative relationship of the velocity inputs and outputs based on oriented graph method. And the results on the dynamic transfer characteristics between system inputs and load ends indicate that the essence of the differential mechanism is to enlarge and redistribute the input torques after synthesis, which has a major impact on increasing its load capacity. Results of theoretical analysis show that the platform designed and studied here can realize the motion of 2-DOF with power transmission and control, and validate the proposed scheme. The new configuration application is significant in reducing the weight of the drive system and enhancing the output torque. This may provide a reference for the further stabilized platform design.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2018年第13期135-141,共7页
Journal of Mechanical Engineering
基金
中国兵器工业集团高等院校协同创新合作专项(KH201504)
国防科技大学预先研究资助项目
关键词
稳定平台
差动绳传动
运动学
动力传递
有向图法
stabilized platform
differential cable-driven
kinematics
power transmission
oriented graph method
