低速风洞动态试验的高速并联机构设计及动力学分析

doi:10.7527/S1000-6893.2013.0084

Abstract

Abstract:

In order to simulate the multiple degrees of freedom (DOF) wind tunnel test of an aircraft, a high speed 6-DOF parallel mechanism for low speed wind tunnel tests is designed. The structural parameters of the mechanism are given by a comprehensive analysis of its requirements and restrictions. The characteristics of the parallel mechanism are analyzed. The vibration responses at the limit positions of the system are calculated by ANSYS software. At the same time, a flexible dynamic simulation for high speed emergency braking is analyzed by ADAMS tool; the characteristics of high speed braking are summerized based on a comparative analysis of the rigid and flexible brake loads. The simulation results prove that this study is important for the design of the prototype of a parallel mechanism and its application. The experiment shows that the parallel mechanism can fulfill both single degree and multi degree oscillatory motions; it also has a large work space (up to 30°/500 mm), high motion accuracy (up to 0.05°/0.5 mm) and high speed (up to 5 m/s). In conclusion, the high speed 6-DOF parallel mechanism has high motion capability to meet the wind tunnel test requirements.

Key words: parallel mechanism, high speed, flexible dynamic, wind tunnel test, motion planning, six degrees of freedom

CLC Number:

XIE Zhijiang, SUN Xiaoyong, SUN Haisheng, ZHANG Jun. Mechanism Design and Dynamics Analysis of High Speed Parallel Robot for Dynamic Test in Low Speed Wind Tunnel[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, doi: 10.7527/S1000-6893.2013.0084.

References

[1] Chen Z H, Chen W H. Structure design and finite element analysis of the high angle of attack mechanism in 2.4 m wind tunnel. Journal of Experiments in Fluid Mechanics, 2008, 22(4): 84-88. (in Chinese) 陈振华, 陈万华. 2.4 m风洞大迎角机构结构设计与有限元分析. 实验流体力学, 2008, 22(4): 84-88.

[2] Sun H S, Zhang H, Tang G S, et al. The development of high angle of attack test equipment in the 8 m×6 m low speed wind tunnel. Journal of Experiments in Fluid Mechanics, 2009, 23(1): 70-73. (in Chinese) 孙海生, 张晖, 汤更生, 等. 8 m×6 m风洞特大迎角试验设备研制. 实验流体力学, 2009, 23(1): 70-73.

[3] Kawamura S, Kino H, Won C. High speed manipulation by using parallel wire driven robots. Robotica, 2000, 40 (2): 13-21.

[4] Zheng Y Q, Lin Q, Liu X W. Design methodology of wire-driven parallel support systems in the low speed wind tunnels and attitude control scheme of the scale model. Acta Aeronautica et Astronautica Sinica, 2005, 26(6): 774-778. (in Chinese) 郑亚青, 林麒, 刘雄伟. 低速风洞绳牵引并联支撑系统的机构与模型姿态控制方案设计. 航空学报, 2005, 26(6): 774-778.

[5] DNW German-Dutch Wind Tunnels. Annual Report 2004. URL:http://www.dnw.aero.

[6] Huebner A R. Experimental and numerical investigations of unsteady aerodynamic derivatives for transport aircraft configurations. AIAA-2007-1076, 2007.

[7] Loeser T, Bergmann A. Capabilities of deployment tests at DNW-NWB. RTO-AVT-133, 2006: 13-1-13-11.

[8] Bergmann A, Huebne A, Loeser T. Experimental and numerical research on the aerodynamics of unsteady moving aircraft. Aerospace Sciences, 2008, 44(2): 121-137.

[9] Xiao Y W, Lin Q, Zheng Y Q, et al. Model aerodynamic tests with a wire-driven parallel suspension system in low-speed wind tunnel. Chinese Journal of Aeronautics, 2010, 23(4), 393-400.

[10] Staicu S. Inverse dynamics of the 3-PRR planar parallel robot. Robotics and Autonomous Systems, 2009, 57(5): 556-563.

[11] Huang Q, Zheng Y Q, Lin Q. Dynamic analysis for single-DOF oscillation of vehicle model in a 6-DOF wire-dri-ven parallel manipulator. Engineering Mechanics, 2010, 27(10): 230-234. (in Chinese) 黄琴, 郑亚青, 林麒. 6自由度绳牵引并联机构飞行器模型单自由度振荡运动的动力学分析. 工程力学, 2010, 27(10): 230-234.

[12] Shabana A A. Dynamics of multibody systems. New York: Cambridge University Press, 2005: 51-67.

[13] Zhang Y D, Wang Y T, Wang M N, et al. Co-simulation of flexible body based on ANSYS and ADAMS. Journal of System Simulation, 2008, 20(17): 4501-4504. (in Chinese) 张永德, 汪洋涛, 王沫楠, 等. 基于ANSYS 与ADAMS 的柔性体联合仿真. 系统仿真学报, 2008, 20(17): 4501-4504.

[14] Piras G, Cleghorn W L, Mills James K. Dynamic finite element analysis of a planar high speed, high precision parallel manipulator with flexible links. Mechanism and Machine Theory, 2005, 40(7): 849-862.

[15] Nie X T, Guo L D, Liu B L. Dynamics simulation and analysis of flexible nozzle in wind tunnel based on ADAMS. Journal of Experiments in Fluid Mechanics, 2011, 25(2): 73-76. (in Chinese) 聂旭涛, 郭隆德, 刘伯林. 基于ADAMS风洞柔壁喷管动力学仿真分析. 实验流体力学, 2011, 25(2): 73-76.

Mechanism Design and Dynamics Analysis of High Speed Parallel Robot for Dynamic Test in Low Speed Wind Tunnel

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Zhuangzhuang CUI, Xin YUAN, Guoqing ZHAO, Simeng JING, Qijun ZHAO. Influence of control strategy on forward flight performance of coaxial rigid rotor high⁃speed helicopters [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529256-529256.
[2]	Pengpeng SUN, Ping’an LIU, Feng FAN, Wei ZENG. Aerodynamic interaction characteristics of coaxial rigid rotor⁃fuselage in hover condition [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529284-529284.
[3]	Chang WANG, Long HE, Dongxia XU, Min TANG, Shuai MA, Ximing WU. Flow control drag reduction of hub on coaxial rigid rotor aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529084-529084.
[4]	Weiguo ZHANG, Min TANG, Jie WU, Xianmin PENG, Guichuan ZHANG, Bowen NIE, Liangquan WANG, Chaoqun LI. Overview of wind tunnel test research on tiltrotor aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 530114-530114.
[5]	Bowen NIE, Liangquan WANG, Zhiyin HUANG, Long HE, Shipeng YANG, Hongtao YAN, Guichuan ZHANG. Flight dynamics modeling and control scheme design of compound high-speed unmanned helicopters [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529848-529848.
[6]	Qichang CHEN, Zhiwei SHI, Weiyuan ZHANG, Linglong YAO, Shengxiang TONG. Aerodynamic layout and control strategy design and flight verification of a wing⁃foldable variant VTOL aircraft [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629583-629583.
[7]	Liu LIU, Xianhong XIANG, Yufei ZHANG, Haixin CHEN, Chuang WEI, Jian ZHU, Pu YANG. A high lift-to-drag ratio unconventional blended-wing-body aerodynamic configuration with swallow tail [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629630-629630.
[8]	Haixing LI, Feng ZHOU, Wei YAN, Feng BAI, Keliang ZHAO. Effects of roughness ice on aerodynamic performance of civil aircraft horizontal tail [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 128657-128657.
[9]	Ting LIU, Qi LIN, Zhen LIU, Xiaoguang WANG, Huisong WU, Yonggang XU. Reconfigurable wire⁃driven parallel support mechanism for electromagnetic scattering test [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 328658-328658.
[10]	Qingrui ZHANG, Yunyun LIU, Huijie SUN, Bo ZHU. Robust cooperative tracking control for close formation of fixed⁃wing unmanned aerial vehicles [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 629233-629233.
[11]	Lingsong XU, Yuan WU, Dongyu ZHU, Fukun ZHANG, Yu LIU. A wing pitch oscillation mechanism for FL⁃61 icing wind tunnel [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729296-729296.
[12]	Yu LIU, Mengjie QIN, Qiang WANG, Xian YI. Scaling law for salty sea spray icing wind tunnel test [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729297-729297.
[13]	Qiuming YANG, Yongfeng ZHU, Huawei CHEN, Xiaolin LIU. Anti-icing performance test investigation on hollowed patterning electric heating module [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729334-729334.
[14]	Shiqi GAO, Bo DING, Xuzhen XIE, Zheng LI, Lin CHEN, Shouyuan QIAN, Zihan JIAO, Guanghui BAI. Drag reduction mechanism using plasma synthetic jet in high⁃speed flow [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729373-729373.
[15]	Yi JIN, Shu SUN, Yunjie GUO, Huijun TAN, Yue ZHANG. Dual solution internal flow phenomenon and throttling characteristics of a supersonic variable inlet [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(7): 127134-127134.