Construction and kinematic performance analysis of a suspension support for wind tunnel tests of spinning projectiles based on wire-driven parallel robot with kinematic redundancy  

作　　者：Zhou ZHU Lu SHI Cong HE Lei ZHAN Qi LIN 

机构地区：[1]School of Aerospace Engineering,Xiamen University,Xiamen 361102,China

出　　处：《Chinese Journal of Aeronautics》2024年第12期404-415,共12页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.12072304).

摘　　要：This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.

关 键 词：Suspension support Wire-Driven Parallel Robot(WDPR) Spinning Projectile Model(SPM) Wind tunnels Kinematic performance analysis Kinematic redundancy 

分 类 号：TJ410.6[兵器科学与技术—火炮、自动武器与弹药工程]