风洞6PUUS并联实验台运动位置控制仿真及结构优化  

Kinematic displacements control simulation and configuration optimizing of six DOFs parallel mechanism for wind tunnel experimental platform

作　　者：谭兴强[1,2] 谢志江[1] 谢永春[2] 

机构地区：[1]重庆大学机械工程学院,重庆400044 [2]攀枝花学院,四川攀枝花617064

出　　处：《重庆大学学报（自然科学版）》2013年第4期19-25,共7页Journal of Chongqing University

基　　金：国家995工程国防科技重大专项(JW20*2009236)

摘　　要：针对风洞模型实验平台的6PUUS并联机构,分析了其工作原理及运动要求,运用并联机构运动学逆解及空间笛卡尔坐标变换理论求出了该类机构在任意实验给定欧拉角下的拉杆运动位置和滑块的运动插补路径。根据空间位置插补求解算法,验证了该算法的正确性。通过仿真分析获得了这类并联机构在工作范围内不发生滑块相撞的关键因素,最后结合机构参数的变化,对比优化前后的拉杆和动平台尺寸参数,证明该方法和仿真程序可以为这类并联机构的优化设计和奇异位形的辅助分析提供帮助。6PUUS parallel mechanism for wind tunnel experimental platform is studied,and its operational principle and movement requirements are analyzed.According to the theory of inverse kinematics and spatial Descartes coordinate transformation of 6PUUS parallel mechanism,kinematic positions of pull rods and kinematic interpolation paths of sliders are derived base on Euler angle of any experimental pose.The detailed algorithm for spatial position interpolation is summarized and its validity is proved by a simulation case in the end.Key factors of nonoccurrence of sliders collision at work are concluded by means of simulation analysis,and combined with the variety of mechanism parameters,optimized size parameters of pull rods and movable platform are also found.It is proved that this method and the simulation algorithm are useful and helpful for the optimizing design and singularity poses analysis of the parallel mechanism.

关 键 词：并联机构 风洞 试验台 运动仿真 空间插补 仿真建模 6PUUS 

分 类 号：TH11[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]