微重力模拟育种平台运动轨迹的规划研究

Planning of Breeding Platform Trajectory on Microgravity Simulation

在三维空间气浮式模拟微重力育种平台装置的设计中,为了达到控制育种装置的空间运动姿态的目的,就要通过对育种平台运动轨迹进行规划来推导出其运动控制方程,实现电机伺服系统在三自由度上的联动问题,以及气缸在垂直方向上的伸缩位移量问题。这两者协调运动才能使平台按照预先设定的椭圆形轨迹运动。

To design the three-dimensional analog of breeding platform device on flotation microgravity,it was necessary to elicit the equation of motion control through trajectory plan of breeding platform to control the breeding unit＇s space motion gesture. This could resolve linkage problem of motor servo system in three degrees of freedom,as well as figure out the amount of cylinder stretching displacement in vertical direction. The platform worked in accordance with preset elliptical trajectory when they had the coordinated motion.