CAJ | 학술논문

无人直升机操纵机构的输入／输出关系复杂，传统上的设计方法有很多局限，为优化操纵系统的设计，必须对操纵机构进行精确建模与分析。针对一种典型的带伺服小翼的无人直升机操纵系统，运用分析空间机构的方法建立其运动学模型，并将整个机构其分解为3个模块，对每个模块的功用进行完整的分析并给出机构运动学方程，最后对整个机构进行数值仿真。
무인직승궤조종궤구적수입／수출관계복잡，전통상적설계방법유흔다국한，위우화조종계통적설계，필수대조종궤구진행정학건모여분석。침대일충전형적대사복소익적무인직승궤조종계통，운용분석공간궤구적방법건립기운동학모형，병장정개궤구기분해위3개모괴，대매개모괴적공용진행완정적분석병급출궤구운동학방정，최후대정개궤구진행수치방진。
The input/output relationship of operating mechanism of unmanned helicopter is com-plex.Many limits exist in the traditional design methods.To optimize the design of the operating mechanism, it must be accurately modeled and analyzed.In this paper, the operating mechanism of a kind of typical unmanned helicopter was discussed, and the kinematics model was estab-lished by the method of spatial mechanism.The whole mechanical system was decomposed into three modules.The function of each module was totally analyzed, and the kinematics equation was established.Finally, the numerical simulation of the mechanism was given.