| 3-DOF转动柔索驱动风洞机构的力雅可比矩阵 |
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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的力雅可比矩阵[J].南京航空航天大学学报,2011,43(1). |
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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： | 南京航空航天大学青年科技创新基金资助项目; 江苏省数字化制造技术重点实验室基金(HGDML-0905)资助项目 |
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| 摘 要： | 简要概述了柔索牵引并联机器人在国内外的研究和发展现状,提出一种新颖的基于5根柔索牵引并联机器人的三自由度转动角度机构及测力一体化风洞试验装置。应用并联机构基本理论研究了机构的运动学逆解。依据空间解析几何理论,直接推导出在各柔索安装单分量力传感器时模型的感、测力变换雅可比矩阵。最后给出了数值算例,验证了该装置应用于风洞测力试验的有效性,为该测力装置应用于风洞试验奠定了基础。
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| 关 键 词： | 3-DOF转动 柔索驱动并联机构 风洞 运动学逆解 力雅可比矩阵 |
Force Jacobian Matrix for 3-DOF Cable-Driven Mechanism with Rotation in Wind Tunnel |
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| Yao Yu,Wu Hongtao.Force Jacobian Matrix for 3-DOF Cable-Driven Mechanism with Rotation in Wind Tunnel[J].Journal of Nanjing University of Aeronautics & Astronautics,2011,43(1). |
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| Authors: | Yao Yu Wu Hongtao |
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| Institution: | Yao Yu1,Wu Hongtao2(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: | An overview of research on cable-driven parallel robot at home and abroad is summarized,and then a novel integrative wind tunnel testing equipment is presented based on five cables-driven parallel robot for accomplishing 3-DOF rotation and force measurement for the testing model simultaneously.Inverse kinematics of the angle mechanism is analyzed according to the fundamental theory of the parallel mechanism.By using the theory of the spacial analytic geometry,a force Jacobian matrix is derived for the testi... |
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| Keywords: | three degree-of-freedom(3-DOF) rotation cable-driven parallel mechanism wind tunnel inverse kinematics force Jacobian matrix |
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