风洞层流风场中的WDPSS-8机器人系统的末端位姿偏移及补偿

基于ANSYS/CFX软件,比较研究WDPSS-8系统在几组不同风速的层流风场中,其所表现出的流固耦合效应的动静力特性及飞行器位姿的偏移值,并提出基于迭代法的飞行器模型位姿补偿方法.研究结果表明:只有在较高风速下,模型位姿才会发生偏移且超出定位精度,从而需要进行补偿,可采用迭代法调整绳拉力值实现位姿的补偿.

End-Pose Deviation and Compensation for WDPSS-8 Robotic System in Laminar Flow Field of Wind Tunnels

Based on the software ANSYS/CFX, when WDPSS-8 system is placed in laminar flow field with several groups of different wind speeds, the dynamic and static properties of the fluid-structure interaction effects and the pose deviation of the aircraft is comparatively studied. And a pose compensation method of the aircraft model is proposed based on the iterative method. The results show that only under higher wind speed, the model position will offset and exceed the positioning accuracy, and need to compensate. Iteration method can be used to adjust the rope tension value to achieve the pose compensation.