基于6 UHU型并联机构的动载坦克模拟器螺旋耦合补偿

基于螺旋理论,以动载坦克模拟器为研究对象,对6-UHU型并联机构螺旋耦合现象进行分析.在逆运动学基础上推导耦合角度及耦合速度,提出动载坦克模拟器螺旋耦合补偿.考虑运动控制器及电机自身性能,以支链实际运动轨迹为模型输入,使用机构-模型联合运动方法对螺旋耦合补偿进行了实验研究.结果表明,该螺旋耦合补偿提高了动载坦克模拟器运动的平稳性和准确性,降低了抖动幅度,为模拟器的运动控制研究进行了有益的探索.

Screw coupling compensation of dynamic load tank simulator based on 6 UHU parallel mechanism

Taking dynamic load tank simulator as the research object,the screw coupling of 6-UHU parallel mechanism is analyzed based on screw theory.Through deriving the coupling angle and velocity based on inverse kinematics model,a screw coupling compensation of dynamic load tank simulator is proposed.Considering the performance of motion controller and motor,it uses the mechanism-model combined method which takes practical moving track of leg as its input to make the study.Experimental results show that the screw coupling compensation improves motion stability as well as accuracy.Besides,it decreases the dither amplitude and prolongs service life of dynamic load tank simulator.This research provides positive exploration for motion control of simulator.