摘要
直升机悬停救助模拟器用于在实验室中模拟训练救生人员在恶劣海况进行的直升机救助任务,Stewart并联机构因其刚度大、承载能力强、精度高等优点,被用做直升机模拟舱的动感产生装置。确定工作空间的边界一直是并联机构研究的重要内容,为保证直升机悬停模拟的运动参数不超过平台最大边界范围,需要对其工作空间进行计算和分析。以直升机悬停救助模拟系统的Stewart机构为研究对象,结合直升机悬停救助模拟器的特殊应用场景,提出一种将运动学正解和凸包算法相结合的Stewart机构工作空间计算方法,该方法具有运算准确、速度快等优点。最后,通过实验验证,该方法用于对直升机悬停模拟器在不同海况下运动状态的干涉检测具有良好的效果。
The helicopter hovering rescue simulator is applied to train helicopter rescue crews in harsh sea conditions of a helicopter rescue mission in laboratory.Stewart parallel platform is used as a dynamic generating device to the helicopter simulation cabin, because of its high rigidity, strong bearing capacity, and high precision.In order to ensure the trajectory of the simulation platform for helicopter hovering does not exceed its maximum boundary range, the working space of the platform were calculated and analyzed.The Stewart platform of helicopter hovering rescue simulation system was studied, and a solution of its working space based on the forward kinematics solution was presented.With a combination of the Stewart kinematics and the convex hull algorithm, the solution was accurate in operation, high in speed, and intuitive.Finally, the correctness of the method was verified by experiments.The method can be used to detect the motion state of helicopter hovering simulator under different sea conditions.
作者
王盛业
王海涛
熊伟
关广丰
WANG Shengye;WANG Haitao;XIONG Wei;GUAN Guangfeng(Naval Architecture and Ocean Engineering College,Dalian Maritime University,Dalian Liaoning 116026,China)
出处
《机床与液压》
北大核心
2022年第7期130-134,共5页
Machine Tool & Hydraulics
基金
中央高校基本科研业务基金项目(3132019352)。
