| 3-DOF转动柔索驱动风洞机构正向运动学解析解 |
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| 引用本文： | 姚裕,吴洪涛.3-DOF转动柔索驱动风洞机构正向运动学解析解[J].南京航空航天大学学报,2009,41(2). |
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| 作者姓名： | 姚裕 吴洪涛 |
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| 作者单位： | 1. 南京航空航天大学航空宇航学院,南京,210016
2. 南京航空航天大学机电学院,南京,210016 |
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| 基金项目： | 航空科学基金(H0608-012)资助项目;;江苏省数字化制造技术重点实验室基金(HGDML-0501)资助项目 |
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| 摘 要： | 运用3个罗德里格参数描述3-DOF转动柔索驱动风洞角度机构的旋转矩阵,基于并联机构的基本理论将机构的正向运动学用罗德里格参数表达为3个二次方程的解析形式.通过数学处理消除其中的两个变量.得到关于—个变量的八次正向运动学方程,求解出机构的八组解,最后应用反解算例验证正向运动学分析结果的正确性.研究结果表明,本文的研究方法对该类机构是有效的.
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| 关 键 词： | 风洞 柔索驱动 角度机构 罗德里格参数 正向运动学 解析解 |
Forward Kinematics Analytical Solutions of 3-DOF Rotating Wire-Driven Mechanism in Wind Tunnel |
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| Yao Yu,Wu Hongtao.Forward Kinematics Analytical Solutions of 3-DOF Rotating Wire-Driven Mechanism in Wind Tunnel[J].Journal of Nanjing University of Aeronautics & Astronautics,2009,41(2). |
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| Authors: | Yao Yu Wu Hongtao |
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| Institution: | 1.College of Aerospace Engineering;Nanjing University of Aeronautics & Astronautics;Nanjing;210016;China;2.College of Mechanical and Electrical Engineering;China |
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| Abstract: | Rodridgues parameters are used to express the transformation matrix of a 3-DOF rotating wire-driven mechanism.The closed forward kinematics is described in three quadratic equations by the three Rodridgues parameters based on fundamental theory of parallel mechanism.A mathematical method is used to eliminate two of the variables,so an eighth polynomial in one variable can be derived,and the eight sets of Rodridgues parameters for the forward kinematical equations can be obtained.Finally,a numerical example ... |
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| Keywords: | wind tunnel wire-driven angle mechanism Rodridgues parameters forward kinematics analytical solution |
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