Designing and Analyzing Kinematics of 3-DOF Redundant-actuation Flight Simulator
-
摘要: 提出一种三转动自由度冗余驱动飞行模拟器。在3-RRR球面并联机构的基础上,通过球面平行四边形机构的引入而实现冗余驱动,从而克服电机驱动相对于液压驱动功率相对较小的缺点。将一般3-RRR球面并联机构的参数进行变化,从而设计出体积相对较小的运动机构。利用空间球面解析理论建立了各支链的方向余弦,在方向余弦建立的基础上给出机构的雅可比矩阵。利用支链夹角不变原理建立了机构的约束方程,进行了运动学反解分析。考虑球面平行四边形冗余驱动支链的干涉情况,根据向量叉积定理计算得出了输入转角范围,并通过一种数值正解算法计算得到机构给定输入参数的工作空间。分析结果表明,在给定特定结构参数的情况下,所提出的飞行模拟器具有转角大的优点,远远大于传统的Stewart机构,从而为飞行模拟器的实际应用提供一种新的选择。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.
-
[1] 于靖军,刘辛军,丁希仑,等.机器人机构学的数学基础[M].北京:机械工业出版社,2008:226-227 Yu J J, Liu X J, Ding X L, et al. Foundation of mathematics of mechanisms[M]. Beijing:China Machine Press, 2008:226-227(in Chinese) [2] Pouliot N A, Gosselin M, Nahon M A. Motion simulation capabilities of three-degree-of-freedom flight simulators[J]. Journal of Aircraft, 1998,35(1):9-17 [3] Asada H, Granito J A. Kinematic and static characterization of wrist joints and their optimal design[C]//Proceeding of 1985 IEEE International Conference on Robotics and Automation. St. Louis, USA:IEEE, 1985:244-250 [4] Cox D J, Tesar D. The Dynamic model of a three degree of freedom parallel robotic shoulder module[M]//Waldron K J. Advanced Robotics:1989. Berlin Heidelberg:Springer, 1989:475-487 [5] Gosselin C M, St-Pierre É. Development and experimentation of a fast 3-DOF camera-orienting device[J]. The International Journal of Robotics Research, 1997,16(5):619-630 [6] 曾宪菁,黄田,曾子平.3-RRR型数控回转台的精度分析[J].机械工程学报,2001,37(11):42-45 Zeng X J, Huang T, Zeng Z P. Accuracy analysis of the 3-RRR NC swivel worktable[J]. Chinese Journal of Mechanical Engineering, 2001,37(11):42-45(in Chinese) [7] Birglen L, Gosselin C, Pouliot N, et al. SHaDe, a new 3-DOF haptic device[J]. IEEE Transactions on Robotics and Automation, 2002,18(2):166-175 [8] 孙立宁,刘宇,祝宇虹.一种用于腕关节的球面三自由度并联解耦机构位置分析[J].中国机械工程,2003,14(10):831-833 Sun L N, Liu Y, Zhu Y H. A kinetic analysis of 3-DOF decoupled spherical parallel mechanism used for the wrist joint[J]. China Mechanical Engineering, 2003,14(10):831-833(in Chinese) [9] 张顺心,宋开峰,范顺成.基于并联球面机构的太阳跟踪装置研究[J].河北工业大学学报,2003,32(6):44-48 Zhang S X, Song K F, Fan S C. Study on the new two-axes solar tracker based on spherical parallel mechsnism[J]. Journal of Hebei University of Technology, 2003,32(6):44-48(in Chinese) [10] 战丽娜,金振林.一种基于球面并联机构的肩关节的分析与设计[J].燕山大学学报,2006,30(1):14-17 Zhan L N, Jin Z L. Analysis and design of shoulder joint based on spherical parallel manipulator[J]. Journal of Yanshan University, 2006,30(1):14-17(in Chinese) [11] 崔冰艳,金振林.基于正交机构的机器人肩关节静力学分析与结构参数设计[J].光学精密工程,2011,19(1):77-82 Cui B Y, Jin Z L. Statics analysis and structure parameter design of robot shoulder joint based on orthogonal mechanism[J]. Optics and Precision Engineering, 2011,19(1):77-82(in Chinese) [12] Li Y B, Jin Z L, Ji S M, et al. Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators[J]. Journal of Mechanical Science and Technology, 2013,27(1):103-112 [13] 李剑锋,费仁元,范金红,等.驱动器布位及冗余驱动对Tricept并联机构性能的影响[J].机械工程学报,2008,44(1):31-39 Li J F, Fei R Y, Fan J H, et al. Effects of actuator disposition and redundant actuation on performance of the Tricept parallel mechanism[J]. Chinese Journal of Mechanical Engineering, 2008,44(1):31-39(in Chinese) [14] 周昌春,方跃法,叶伟,等.6-RRS超冗余驱动飞行模拟器的性能分析[J].机械工程学报,2016,52(1):34-40 Zhou C C, Fang Y F, Ye W, et al. Performance analysis of 6-RRS over-redundant actuation flight simulator[J]. Journal of Mechanical Engineering, 2016,52(1):34-40(in Chinese) [15] 黄真.空间机构学[M].北京:机械工业出版社,1991:7-8 Huang Z. Space Mechanisms[M]. Beijing:China Machine Press, 1991:7-8(in Chinese) [16] Gosselin C, Angeles J. The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator[J]. Journal of Mechanisms, Transmissions, and Automation in Design, 1989,111(2):202-207 [17] 姜虹,郑康平,王军,等.一种高效虚拟轴机床的位置正解[J].西安交通大学学报,2002,36(11):1187-1190 Jiang H, Zheng K P, Wang J, et al. Effective method of forward displacement analysis for virtual axis machine tool[J]. Journal of Xi'an Jiaotong University, 2002,36(11):1187-1190(in Chinese)
点击查看大图
计量
- 文章访问数: 224
- HTML全文浏览量: 34
- PDF下载量: 8
- 被引次数: 0