Decoupling Motion Analysis of Wind Tunnel 6-DOF Mechanisms

被引：0
|
作者：
Sun Q. [1 ]
Xie Z. [1 ]
Wu J. [1 ]
Li S. [1 ]
Song N. [1 ]
机构：
[1] State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing
来源：
Xie, Zhijiang (xie@cqu.edu.cn) | 2018年 / Chinese Mechanical Engineering Society卷 / 29期
关键词：
6-DOF mechanism; Calibration experiment; Decoupling motion; Product of exponential(POE); Wind tunnel test;
D O I：
10.3969/j.issn.1004-132X.2018.06.008
中图分类号：
学科分类号：
摘要：
To improve reliability of high speed wind tunnel tests, a wind tunnel 6-DOF mechanisms were designed, and an attitude angle compensation method was put forward when support stings were transformed. In two cases of the model centroid and the mechanism rotation center with or without coincidence, the kinematics formula was proposed based on POE of the serial robots. And then without coincidence, the compensation rate of the model decoupling attitude angles was given.The laser tracker calibration experiments prove the feasibility of the compensation method and provide theoretical basis for trajectory planning and real time control. © 2018, China Mechanical Engineering Magazine Office. All right reserved.
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页码：682 / 687
页数：5
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