应用于飞行器风洞试验的绳牵引并联机构技术综述

 首先概述了法国航空局SACSO项目关于绳牵引并联机构应用于飞行器风洞试验的研究工作,然后从六自由度绳牵引并联机构的结构设计、运动学及性能分析、工作空间的分析与综合、静刚度分析、运动控制和力控制等六方面,详细分析了六自由度绳牵引并联机构应用于飞行器风洞试验中的关键技术。分析结果表明:六自由度绳牵引并联机构必须根据飞行器的类型,以工作空间大小为依据进行构型设计;其运动控制方案可借用PID控制或自适应控制,其优点是便于动力学模型的线性化和解耦;其力控制方案可借用经典的阻抗控制和力/位置混合控制,但适用于飞行器风洞试验的六自由度绳牵引并联机构的更完善的力控制策略还有待进一步的研究。

Overview of Wire-driven Parallel Kinematic Manipulators for Aircraft Wind Tunnels

First, an overview of the research work on the SACSO project at ONERA in France is presented, and then the key issues of six DOFs wire-driven PKMs for aircraft wind tunnels are addressed.And the key issues are focused on structural design,kinematics analysis,workspace analysis and synthesis,static stiffness analysis,motion control scheme,and force control scheme.The results demonstrate that the structure of a wire-driven PKM should be based on the aircraft model and its workspace volume.The PID and self-adaptive control schemes are optional solutions for the motion control considering the decoupling and linearization of the dynamic model.And the classical impedance and force/position hybrid control schemes can be borrowed for the force control at the first stage.However,the development of a better force control strategy for the six DOFs wire-driven PKMs for aircraft wind tunnels is still underway.