机械科学与技术2017，Vol.36Issue(9)：1458-1463,6.DOI:10.13433/j.cnki.1003-8728.2017.0924
三自由度冗余驱动飞行模拟器设计及分析
Designing and Analyzing Kinematics of 3-DOF Redundant-actuation Flight Simulator
摘要
Abstract
A three-degree-of-freedom (3-DOF) rotational redundant-actuation flight simulator is proposed.It includes three degrees of freedom,six actuators and 3 redundant actuators.Based on the 3-DOF RRR spherical parallel manipulator,the parallelogram mechanism is introduced to accomplish the redundant actuation so that the flight simulator can be manipulated by enough power.The use of the parallelogram mechanism improves the stiffness and overcomes the drawback of the low power of an electric motor compared with hydraulic power.The parameters of 3-DOF spherical parallel manipulator are changed to gain the smallest volume of the manipulator of the flight simulator relatively.Direction-cosine is built with the analytically spherical theory;then the Jacobian matrix is established based on the direction-cosine.The inverse kinematics is solved with the constant intersection angle principle and the constraint equations are established at the same time.The interference that limits the input angles of the parallelogram mechanism is considered,so that the ranges of input angle are gained by the cross vector product theorem.Based on the range of input angles,an effective numerical algorithm of forward kinematics and inversely kinematical equations and the workspace volume are obtained.The results show that the volume of flight simulator proposed in this paper is apparently larger than the Stewart parallel manipulator.关键词
飞行模拟器/球面并联机构/雅可比矩阵/数值正解/运动分析Key words
parallel manipulator/spherical parallel manipulator/flight simulator/Jacobian matrix/forward kinematics分类
机械制造引用本文复制引用
周昌春,葛德俊..三自由度冗余驱动飞行模拟器设计及分析[J].机械科学与技术,2017,36(9):1458-1463,6.基金项目
国家自然科学基金项目(51175029)资助 （51175029）
