双3-RRS超冗余驱动飞行模拟器力矩传递性能分析

Analysis of the Torque Transmission Performance of Double 3-RRS Over-redundant Actuation Flight Simulator

以双3-RRS超冗余驱动飞行模拟器的运动机构为研究对象,分析该运动机构的力矩传递性能。该飞行模拟器具有3个转动自由度,6个驱动,其中有3个冗余驱动;两个完全相同的3-RRS球面并联机构构成飞行模拟器的运动机构。由于只建立一个定坐标系,所以该球面并联机构广义上仍然具有一个定平台,一个动平台,整个动平台即为飞行模式器座舱。通过反对称坐标系的建立确定了支链的方向余弦,以此为基础给出超冗余球面并联机构的雅可比矩阵。主要分析双3-RRS超冗余驱动飞行模拟器力矩传递性能指标和3-RRS非冗余驱动飞行模拟器力矩传递性能指标,给出了力矩传递性能图谱,并根据三维图谱给出了分析结论。

The torque transmission performance of flight simulator with double 3-RRS over-redundant actuation spherical parallel manipulator is analyzed. The flight simulator has 3 rotational degrees of freedom,6 actuators,3 redundant actuators are included in 6 actuators. Two totally same spherical parallel manipulators consist of the flight simulator. Because of only one fixed coordinate frame is established,it has one fixed base in general and one moving platform. The whole moving platform is served as the flight simulator capsule. The directional cosines of the branch are determined by anti-symmetric coordinates frame,and on this basis,the Jacobian matrix of the over-redundant actuation spherical parallel manipulator is given. The torque transmission performance index of the double and single 3-RRS over-redundant actuation spherical parallel manipulator are analyzed and its atlas of torque transmission performance are given out,and according to the 3D atlas,the analysis conclusion is given.