基于绳牵引并联机器人悬挂支撑的旋转弹箭耦合运动风洞试验
收稿日期: 2024-12-18
修回日期: 2025-04-01
录用日期: 2025-04-14
网络出版日期: 2025-04-17
基金资助
国家自然科学基金(12072304)
Wind tunnel test for coupled motion of spinning projectile based on WDPR suspension support
Received date: 2024-12-18
Revised date: 2025-04-01
Accepted date: 2025-04-14
Online published: 2025-04-17
Supported by
National Natural Science Foundation of China(12072304)
针对旋转弹箭在飞行中同时存在进动、章动、自旋等多种角运动相互耦合的特点，基于绳牵引并联机器人（WDPR）悬挂支撑技术，提出了一种具有运动学冗余的旋转弹箭风洞试验模型悬挂支撑机构。将WDPR成功用于闭式风洞，并进行了静态、耦合运动动态风洞试验。设计了旋转弹箭模型的悬挂支撑机构及其相应的试验模型结构；建立了具有运动学冗余特性的悬挂支撑机构运动学模型，依此开发了旋转弹箭悬挂支撑风洞试验系统；在CG-01高速风洞中进行了风洞试验。结果表明，WDPR悬挂支撑试验系统能够实现旋转弹箭的多角自由度耦合运动；验证了悬挂支撑用于旋转弹箭模型静态、耦合运动动态风洞试验的可行性、有效性；实现了进动、章动、自旋3种角运动相互耦合的旋转弹箭风洞试验；所获得的动态信号成分初步反映了多自由度耦合运动下旋转弹箭模型气动特性的复杂性，为进一步揭示旋转弹箭耦合运动气动特性的规律奠定了基础。
朱舟 , 林麒 , 何聪 , 师璐 , 詹磊 , 沈楚伦 , 韩东博 . 基于绳牵引并联机器人悬挂支撑的旋转弹箭耦合运动风洞试验[J]. 航空学报, 2025 , 46(16) : 131683 -131683 . DOI: 10.7527/S1000-6893.2025.31683
To address the complex coupling characteristics of multiple angular motions-comprising precession， nutation， and spin， during flight of spinning projectiles， a suspension support mechanism with kinematic redundancy is proposed for wind tunnel testing of Spinning Projectile Models （SPMs） based on Wire-Driven Parallel Robot （WDPR） technology. For the first time， WDPR is successfully used in a closed wind tunnel for both static and dynamic wind tunnel tests. First， the suspension support mechanism and the corresponding test model structure of the SPM are designed. Then， the kinematic model of the support mechanism with kinematic redundancy is established. Based on this， a wind tunnel test system for WDPR-based suspension support is developed. Finally， wind tunnel tests are conducted in the CG-01 high-speed wind tunnel. The test results demonstrate that the proposed suspension support system successfully replicates the multi-degree-of-freedom （multi-DOF） coupled motions of the SPM. The feasibility and effectiveness of the system for static and dynamic coupled motion tests of the SPM are validated. The wind tunnel tests involving the coupled angular motions of precession， nutation， and spin for the SPM are also realized for the first time. The dynamic signals obtained preliminarily reflect the complexity of the aerodynamic characteristics of the SPM under multi-DOF coupled motions， laying a foundation for further investigations into the aerodynamic characteristics of the SPM during coupled motion.
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