A Dimensional Synthesis Method for Aircraft Wing Support Platform
-
摘要: 设计了一种新型飞机机翼支撑平台,其主要结构为并联机构。该并联机构由动平台、静平台和两者之间3条相同的PRS支链组成,具有适用飞机机型多的优点,并研究了其尺度综合方法。在建立并联机构的静力雅可比矩阵基础上,提出当动平台所受外力和外力矩变化时,支链驱动力和约束力变化量的最大全域均值最小的静力学性能评价指标。同时兼顾具体工作实际给出约束条件,利用单调性分析的方法,研究了并联机构静力学性能和各约束条件随尺度参数的变化规律,进而寻求满足约束条件的最优尺度参数。最后通过算例验证了该尺度综合方法的有效性。Abstract: A new type of aircraft wing support platform is designed. The main structure is a parallel mechanism composed of a moving platform, a static platform and three identical PRS branch chains, being more suitable for aircraft models. A method for the dimensional synthesis of the parallel mechanism was proposed. When the moving platform is under force and torque change, a static performance evaluation index is proposed to minimize the maximum actuation and the constraint force of the links by using the static force Jacobian matrix of the parallel mechanism. Taking into account the actually required constraints, we use the monotonic analysis to study the parallel global static performance and the constraint conditions that have varying scale parameters in order to optimize the scale parameters of the conditions. Finally we prove the effectiveness of the method with numericalexamples.
-
Key words:
- aircraft wing support platform /
- design /
- aircraft /
- parallel mechanism
-
[1] 李家祥.中国民用航空局令(第208号) 民用运输机场突发事件应急救援管理规则[R].2011 Li J H. Order No. 208th of the Civil Aviation Administration of China[Z]. 2011 [2] 马玉山.飞机应急救援搬移运输设备:中国, CN2707619Y[P].2005-07-06 Ma Y S. Emergency rescue aircraft carrying and transporting equipment[P]. China:CN200420003995. 2005-07-06 [3] 洪振宇,许致华,张兆翔,等.一种飞机机翼支撑平台:中国,CN104192317A[P].2014-12-10 Hong Z Y. A type of support platform for aircraft wing[P]. China:CN20140464764. 2014-09-12 [4] Au W, Chung H, Chen C. Generation of the global workspace roadmap of the 3-RPR using rotary disk search[J]. Mechanism and Machine Theory, 2014,78:248-262 [5] 李保坤,曹毅,张秋菊,等.Stewart并联机构位置奇异研究[J].机械工程学报,2012,48(9):33-42 Li B K, Cao Y, Zhang Q J, et al. Position-singularity analysis of the Stewart parallel mechanism[J]. Journal of Mechanical Engineering, 2012,48(9):33-42 (in Chinese) [6] 李玉航,梅江平,刘松涛,等.一种新型4自由度高速并联机械手动力尺度综合[J].机械工程学报,2014,50(19):32-40 Li Y H, Mei J P, Liu S T, et al. Dynamic dimensional synthesis of a 4-DOF high-speed parallel manipulator[J]. Journal of Mechanical Engineering, 2014,50(19):32-40 (in Chinese) [7] 李彬,黄田,张利敏,等.一种新型五自由度混联机械手的概念设计及尺度综合[J].中国机械工程,2011,22(16):1900-1905 Li B, Huang T, Zhang L M, et al. Conceptual design and dimensional synthesis of a novel 5-DOF hybrid manipulator[J]. China Mechanical Engineering, 2011,22(16):1900-1905 (in Chinese) [8] Klimchik A, Pashkevich S, Caro S, et al. Stiffness matrix of manipulators with passive joints:computational aspects[J]. IEEE Transactions on Robotics, 2012,28(4):955-958 [9] Bhutani G, Dwarakanath T A. Novel design solution to high precision 3 axes translational parallel mechanism[J]. Mechanism and Machine Theory, 2014,75:118-130 [10] Kelaiaia R, Company O, Zaatri A. Multiobjective optimization of a linear Delta parallel robot[J]. Mechanism and Machine Theory, 2012,50:159-178 [11] Zhang P, Yao Z Q, Du Z C. Global performance index system for kinematic optimization of robotic mechanism[J]. Journal of Mechanical Design, 2013,136(3):031001 [12] 张利敏,梅江平,赵学满,等.Delta机械手动力尺度综合[J].机械工程学报,2010,46(3):1-7 Zhang L M, Mei J P, Zhao X M, et al. Dynamic dimensional synthesis of delta robot[J]. Journal of Mechanical Engineering, 2010,46(3):1-7 (in Chinese) [13] 赵晓颖,温立书,么彩莲.欧拉角参数表示下姿态的二阶运动奇异性[J].科学技术与工程,2012,12(3):634-637 Zhao X Y, Wen L S, Yao C L. The second-order kinematic singularity of orientation in Euler parameters representation[J]. Science Technology and Engineering, 2012,12(3):634-637 (in Chinese) [14] 刘志忠,柳洪义,罗忠,等.基于可变加权矩阵的机器人雅可比矩阵规范化[J].机械工程学报,2014,50(23):29-35 Liu Z Z, Liu H Y, Luo Z, et al. Jacobian matrix normalization based on variable weighting matrix[J]. Journal of Mechanical Engineering, 2014,50(23):29-35 (in Chinese)
点击查看大图
计量
- 文章访问数: 155
- HTML全文浏览量: 31
- PDF下载量: 4
- 被引次数: 0