一种新型共轴式直升机操纵机构运动学分析

发布时间：2018-06-06 18:40

本文选题：共轴直升机 + 少自由度混联机构　；参考：《机械工程学报》2016年01期

【摘要】：提出一种新型共轴式少自由度混联机构,可以模拟三桨叶共轴式直升机操纵机构的运动,由下操纵3-SPS+PS+RRS并联机构和上操纵混联机构串联而成,整体机构结构简单紧凑,所以可应用于三桨叶共轴式无人机。机构对旋转盘的约束等效为一个PS约束支链,上操纵混联机构等效为几个并联机构后,运用螺旋理论分析上操纵机构的自由度,证明上下倾斜盘运动姿态一致,结合下操纵机构得出整个机构满足三桨叶共轴直升机操纵机构所需的自由度。对上操纵机构中的倾斜盘的姿态角和运动支链的位置进行分析,并得出了在下操纵机构一定倾斜姿态下变距转动角的变化规律。通过PRO/E仿真查看整体机构的运行情况。
[Abstract]:A new type of coaxial low degree of freedom hybrid mechanism is proposed, which can simulate the motion of a three-blade coaxial helicopter. It is composed of a 3-SPS RRS parallel mechanism and an upper-steering hybrid mechanism in series. The whole mechanism is simple and compact. So it can be used in three-blade coaxial UAV. The constraint of the mechanism on the rotating disk is equivalent to a PS constraint branch chain, and the upper handling and mixing mechanism is equivalent to several parallel mechanisms. The degree of freedom of the upper and lower steering mechanism is analyzed by using the helical theory, and the motion and attitude of the upper and lower tilting disk are proved to be consistent. The degree of freedom needed by the whole mechanism to meet the requirements of the three blade coaxial helicopter operation mechanism is obtained by combining the lower steering mechanism. The attitude angle of the tilting disk and the position of the motion branch chain in the upper steering mechanism are analyzed, and the changing law of the variable pitch rotation angle under a certain tilt attitude of the lower manipulator is obtained. See the operation of the whole mechanism through PROP / E simulation.
【作者单位】：燕山大学河北省计算机虚拟技术与系统集成重点实验室;燕山大学建筑工程与力学学院;空军装备研究院航空所;
【基金】：国家自然科学基金资助项目(51175446)
【分类号】：V212.4

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