一种用于微小型无人直升机试验研究的6自由度支撑平台  

A 6 -DOF Testing Stand for the Experimental Research of Micro Unmanned Helicopters

作　　者：籍勇翔 赵逸伦 乔兵[1] 

机构地区：[1]南京航空航天大学航天学院,江苏南京210016

出　　处：《直升机技术》2015年第4期63-68,共6页Helicopter Technique

摘　　要：为了保障微小型无人直升机动力学建模与控制试验的安全，避免在试验或测试中造成人员伤害和直升机及其机载设备的损毁，设计了一种被动式微小型无人直升机6自由度支撑平台。该平台由具有被动重力平衡能力的平行四边形机构组成，无人直升机与平台之间采用球铰连接，从而使得直升机能够在所允许的范围内作任意方向的飞行、姿态机动或悬停在任意位置而不受支撑平台重力的影响。为了评价机构的重力平衡效果，在ADAMS环境下对系统进行了仿真，并给出了仿真结果。The conceptual design of a passive supporting stand with 6 degrees of freedom for micro unmanned helicopter test was proposed. The test stand aimed to securing the activities such as the dynamic modeling and controller designing of micro unmanned helicopter such that the damage or crash of the helicopter and its attached loads could be avoided in the experiment. The main component of the stand was a serially articulated parallelogram mechanism in which spring balancing technique was used to passively balance the gravity of the stand. The micro unmanned helicopter was supported on the end of the mechanism through a spherical joint. The helicopters supported in such a stand could fly in any direction or hover in any position within the permitted space of the stand. In order to verify the gravity balancing effectiveness of the stand, the simulations in ADAMS were conducted and the results of the simulations were presented.

关 键 词：无人直升机 UAV MUAV 重力平衡 平行四边形机构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] V211.73[自动化与计算机技术—控制科学与工程]