一种三轴离心机逆运动学解算方法  

An Inverse Kinematic Algorithm for Three-axis Centrifuge

作　　者：麻恒进 卢元周 朱凯 纪广波 路伟光 陈彪 MA Heng-jin;LU Yuan-zhou;ZHU Kai(AVIC Beijing Precision Engineering Institute of Aircraft Industry,Beijing 100076)

机构地区：[1]航空工业北京航空精密机械研究所,北京100076

出　　处：《航空精密制造技术》2024年第2期10-13,17,共5页Aviation Precision Manufacturing Technology

摘　　要：针对三轴离心机使用过程中主悬臂角加速度恒定或分段恒定条件下的逆运动学问题,提出了一种可获得解析解的解算方法。首先,基于多刚体系统中的坐标系建立方法,建立了航空发动机附件测试用三轴离心机的正运动学模型;其次,利用三轴离心机使用过程中角加速度恒定或分段恒定的特点,分两种情况推导了离心机从静止到指定过载状态的解析表达式,并通过仿真验证了其正确性,为三轴离心机运动控制中的理论轨迹实时生成提供了基础。For the inverse kinematic problem under the condition that the angular acceleration of the main arm is constant or segmental constant,an algorithm that can obtain the analytical solutions is proposed.Based on the method of establishing coordinate system in multi-rigid body,the forward kinematic mathematical model of the three-axis centrifuge for the aircraft engine test is built.Using the feature of constant or segmental constant angular acceleration of the main arm,the analytical solution for the process from stillness to the desired acceleration state is derived according to the two situations,and the correctness of the solution is verified by simulation.It provides the base for the real time trajectory generation for the three-axis centrifuge control system.

关 键 词：三轴离心机 逆运动学 过载控制 轨迹生成 

分 类 号：V217.1[航空宇航科学与技术—航空宇航推进理论与工程]