Kinematic Modeling and Analysis of a Coaxial Helicopter&rsquo;s Actuating Mechanism

YUAN Xiaming; ZHU Jihong; CHEN Zhigang; LU Xingju

doi:10.7527/S1000-6893.2013.0188

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2013 , Vol. 34 >Issue 5: 988 - 1000

DOI: https://doi.org/10.7527/S1000-6893.2013.0188

Fluid Mechanics and Flight Mechanics

Kinematic Modeling and Analysis of a Coaxial Helicopter’s Actuating Mechanism

YUAN Xiaming ,
ZHU Jihong ,
CHEN Zhigang ,
LU Xingju

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1. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;
2. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
3. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China

Received date: 2012-06-07

Revised date: 2012-11-05

Online published: 2012-12-18

Supported by

National Natural Science Foundation of China (60974142)

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Abstract

The kinematic relationship between the input and output of a coaxial helicopter's actuating mechanism is complicated and seriously nonlinear, and coupled among different channels as well, especially for the mechanism in yaw control which is fully-differential. For the purpose of error analysis on simplified modeling using proportional relationships, and linearization on the actuating system by inverse kinematics, it is necessary to model the actuating mechanism precisely. With regard to a fully-differential actuating mechanism, the over-constraint and local degrees of freedom are firstly eliminated based on the theory of mechanism, to calculate the total degrees of freedom of the actuating mechanism. Next, after dividing the mechanism into three sub-modules, the method of position analysis of spatial mechanisms is applied to derive the forward and inverse kinematic model of each sub-module to establish the complete kinematic model. Then a measurement system is designed based on the principle of optical measurement, and the established model is verified to be correct through experiment. Finally, the method of application with the established model to the modeling, actuating decoupling and linearization of coaxial helicopters is provided.

Key words： helicopter; actuating mechanism; kinematics; modeling; degree of freedom

Cite this article

YUAN Xiaming , ZHU Jihong , CHEN Zhigang , LU Xingju . Kinematic Modeling and Analysis of a Coaxial Helicopter’s Actuating Mechanism[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013 , 34(5) : 988 -1000 . DOI: 10.7527/S1000-6893.2013.0188

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