Kinematic Analysis and Optimization of Biorthogonal RSSR Differential Mechanism for Ailerons
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摘要: 以RSSR空间机构为基础构型设计了双正交RSSR副翼差分机构，建立了差分机构分析模型，采用D-H方法进行了开式运动链坐标变换，利用杆长法推导了差分机构的运动分析表达式，得到了不同杆长条件下差分机构的运动特性，确定了符合副翼控制精度要求的杆长条件，并在多体动力学软件ADAMS中建立了仿真分析模型，对理论分析进行了验证。结果表明双正交RSSR副翼差分驱动机构可实现左、右副翼在同一驱动舵机作用下反向运动、偏转角度相等的差分驱动目的，通过特定杆长配置可实现传动比近似为1的等速传递。Abstract: Based on the RSSR spatial mechanism, the biorthogonal RSSR differential mechanism for ailerons was designed; the analytical model of differential mechanism was built; the kinematic characteristics under different link lengths were obtained by transforming the coordinates of open kinematic chains with the D-H method. The mathematical expressions for the kinematic analysis of the differential mechanism were derived through using the link length method; the link length conditions were determined in accordance with the aileron control accuracy requirements. The simulation analysis model was built with the multi-body dynamics software ADAMS to verify the theoretical analysis. The results show that the biorthogonal RSSR differential mechanism for ailerons can realize the differential drive of the left and right ailerons with the same deflection angle and that the constant transmission ratio of approximately 1 can be achieved through a specific rod length configuration.
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Key words:
- RSSR differential mechanism /
- unmanned aerial vehicles /
- ailerons /
- kinematic analysis /
- optimization /
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表 1 开式运动链D-H参数
运动链 i ai-1 αi-1 di θi OAB 1(A) 0 0 LCD θ1-90° 2(B) LAB 0 0 0 ODC 3(D) LBC 90° LAB θ2+90° 4(C) LCD 0 0 0 OAE 1(A) 0 0 LFG θ1-90° 5(E) -LAE 0 0 0 OGF 6(G) LEF 90° -LAE θ3+90° 7(F) LFG 0 0 0 
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