中国机械工程2018，Vol.29Issue(6)：682-687,6.DOI:10.3969/j.issn.1004-132X.2018.06.008
风洞六自由度机构运动解耦性分析
Decoupling Motion Analysis of Wind Tunnel 6-DOF Mechanisms
摘要
Abstract
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.关键词
风洞试验/六自由度机构/指数积/运动解耦/标定试验Key words
wind tunnel test/6-DOF mechanism/product of exponential(POE)/decoupling motion/calibration experiment分类
信息技术与安全科学引用本文复制引用
孙琦,谢志江,吴经纬,李晟,宋宁策..风洞六自由度机构运动解耦性分析[J].中国机械工程,2018,29(6):682-687,6.基金项目
国家自然科学基金资助项目(U1530138) （U1530138）
