针对应用于风洞试验的飞行器模型支撑的绳牵引并联机器人WDPR-8,研究牵引绳振动与模型位姿之间的耦合关系.首先,建立WDPR-8机器人支撑系统的等效模型,并通过运动学的正解和逆解验证该等效模型的有效性;其次,分析了绳索的涡激振动问题;然后,对牵引绳施加模拟吹风来流引起绳振动的正弦激励信号,求得整个系统的共振频率,讨论了提高系统刚度的可行方法;最后,研究了牵引绳与飞机模型的耦合振动问题,给出了基于风洞试验的牵引绳振动引起的WDPR-8支撑的模型位姿偏差,以及模型失速发生振动时牵引绳张力的变化.本文的研究结果可为WDPR-8系统的运动控制补偿提供参考.%The coupled vibration between cables and aircraft model is researched.Firstly,an equivalent model of support system is established using ADAMS,and the validity of the equivalent model is verified through positive and inverse kinematical solution.Secondly,the vortex induced vibration problem of cables is analyzed.Then,the sinusoidal vibration excitation signals (such as airflow) are exerted on cables and the resonance frequency of the system is obtained,furthermore,the key elements affecting the vibration characteristics of the system (such as cable diameter,cable elastic modulus) are given,providing a feasible solution for improving system stiffness.Finally,the coupled vibration between cables and aircraft model is analyzed.Based on wind tunnel test,the pose deviation of WDPR-8 supported model caused by cable vibration as well as the cable force changing caused by the model stall is given.This research will provide guidance to WDPR-8 motion control compensation.
展开▼
