The dynamics of the swashplate mechanism of a VTOL unmanned aerial vehicle

被引：14
|
作者：
Lange, C
Angeles, J
Ranjbaran, F
Goritschnig, G
机构：
[1] Graz Univ Technol, Inst Mech & Mechanisms, A-8010 Graz, Austria
[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada
[3] McGill Univ, Ctr Intelligent Machines, Montreal, PQ H3A 2K6, Canada
[4] Bombardier Serv Def, UAV Engn, Mirabel, PQ J7N 1H3, Canada
来源：
MULTIBODY SYSTEM DYNAMICS | 2001年 / 5卷 / 02期
关键词：
swashplate mechanism; helicopters; Unmanned Aerial Vehicles (UAV); dynamics of holonomic multibody systems; parallel platform-type manipulators;
D O I：
10.1023/A:1009874504407
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
The dynamics of the swashplate mechanism of the CL-327, an Unmanned Aerial Vehicle (UAV) with a Vertical Take-Off-and-Landing (VTOL) ability is discussed in this paper, the underlying kinematics having been discussed in an earlier paper. The CL-327 (Guardian) is currently under production by Bombardier Services-Defence, and is considered the world's most versatile and advanced VTOL system in production. The steering control mechanism used in all helicopters, including the CL-327, is a complex multiloop kinematic chain often called the swashplate mechanism. In this paper a dynamic analysis of the particular design used for the swashplate of the CL-327 is discussed. The Newton-Euler formulation is used in conjunction with the natural orthogonal complement in order to derive the equations of motion of the system.
引用
收藏
页码：105 / 131
页数：27
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