CAJ | 학술논문

首先建立三转动并联机构的运动学方程,研究该并联机构的运动学反解和运动学正解,然后建立该机构的动力学方程并分析其动力学特性.基于该机构研制了能复现自行武器行进时的车体姿态变化过程的动态模拟器试验台.该试验台利用运动学反解算法进行闭环控制,并采用基于运动学正解的开环迭代补偿控制算法修正姿态驱动信号,使试验台的响应逐渐逼近期望的姿态指令.测试表明该系统时域波形复现精度优于95%,验证了迭代补偿控制的有效性.
수선건립삼전동병련궤구적운동학방정,연구해병련궤구적운동학반해화운동학정해,연후건립해궤구적동역학방정병분석기동역학특성.기우해궤구연제료능복현자행무기행진시적차체자태변화과정적동태모의기시험태.해시험태이용운동학반해산법진행폐배공제,병채용기우운동학정해적개배질대보상공제산법수정자태구동신호,사시험태적향응축점핍근기망적자태지령.측시표명해계통시역파형복현정도우우95%,험증료질대보상공제적유효성.
The kinematics equation of a 3-DOF (degree of freedom) rotational parallel mechanism is established, and the solutions of the inverse and forward kinematics are investigated. Then the dynamics equation of the robot is built, and the dynamics characteristics are analyzed. A dynamic simulator based on this mechanism is developed to simulate the vehicle posture changes of self-propelled weapons during moving. A closed loop controller based on inverse kinematics is used to control the simulator, and an open loop iterative compensation controller based on forward kinematics is developed at the same time to correct the posture driving signal and make simulator's response approximate the posture command gradually. Experiments show that the system precision is better than 95%, which validates the effectiveness of the iterative compensation control strategy.