三轴离心机模型的运动学建模及运动耦合分析

General Kinematics Model and Coupling Movement Analysis for a Three-axis Centrifuge Motion Simulator

为了满足推力矢量技术的发展需求,研发设计能够提供高加速度变化率的离心机具有重要的研究意义和应用价值。针对上述技术需求,设计三轴离心机模型,采用复合运动和矩阵旋转两种方法建立系统的运动学模型。基于复合运动分析方法建立的模型清晰地给出绕各转轴的角速度和角加速度对加速度载荷的贡献量以及各运动量之间的耦合关系。矩阵旋转法建立的模型可以充分借助Matlab在矩阵运算方面的优势,方便地模拟运动过程中关键点的位移、速度、加速度随时间的变化情况。两种方法建立的模型是该类离心机开展离心试验时运动参数设计的基础。

To meet the requirement of thrust vector technology, it＇s notably important to produce a centrifuge which can provide desired changes of acceleration in different directions. For the objective above, a centrifuge motion simulator is designed as a 3-DOF manipulator with three rotational axes. A general kinematics model for the centrifuge simulator is established by two different methods, one is through method of motion synthesis and the other is by the matrix rotation method. The kinematics model obtained by the motion synthesis expresses the relationship between the acceleration and the angular velocities, as well as the e acceleration and the angular acceleration. The kinematics model based on the matrix rotation method can be used expediently to simulate the changes of displacement, velocity and acceleration of any point regarded. The kinematics models obtained by two different methods are the basis for the parameters of the centrifugal test.