Analysis and Comparison of Kinematic Characteristics for Two Typical 6-DOF Suspension Mechanisms at High Angles of Attack

doi:10.3969/j.issn.1004-132X.2023.06.002

Abstract

Abstract: To meet the requirements of multi-DOF (degree of freedom) coupled motion for the aircraft model， it was urgent to develop new suspension technologies. The motion characteristics of two typical six-DOF rigid and flexible parallel suspension mechanisms at high angles of attack were investigated. Firstly， a transverse 6-PUS rigid parallel suspension mechanism was designed， and the aircraft models pose workspace was solved based on the geometric and kinematic restraints. The mechanism stiffness matrix was also derived. As to the wire-driven parallel suspension mechanism， a symmetrical configuration with 8 wires was proposed and the dynamic motion workspace was obtained. By analyzing and comparing the workspace and internal frequencies of the two mechanisms， it is known that both of the rigid and flexible suspension methods may achieve large scale 6-DOF motion， but wire-driven parallel suspension system (WDPSS) has a larger workspace in the transverse and pitch motions with high natural frequency. Finally， the feasibility and effectiveness of WDPSS is experimentally validated through an example of pitch motions at high angle of attack.

Key words: wind tunnel test, suspension, wire-driven parallel mechanism, rigid parallel mechanism, high angle of attack, natural frequency

摘要： 为满足先进飞行器研制对大迎角多自由度耦合运动试验的要求，急需发展新型风洞模型支撑技术。重点研究了刚、柔两种典型六自由度并联支撑机构的大迎角运动特性。首先建立一种横式6-PUS刚性并联机构，根据运动学模型和约束条件，求解飞机模型的位置和姿态运动空间，并推导其刚度矩阵；针对一种八绳牵引并联支撑机构，利用凸多边形算法求解动态运动空间；对比分析两种机构的运动空间和固有频率，结果表明两种支撑机构均能实现较大范围的六自由度运动，但绳系支撑的横向位置空间更大，在俯仰方向也更具优势，且在大迎角下仍具有较大的固有频率；最后以大迎角运动实验为例，验证了绳牵引并联支撑方式的有效性。

关键词: 风洞试验, 支撑, 绳牵引并联机构, 刚性并联机构, 大迎角, 固有频率

CLC Number:

V211.752

CHEN Hengtong, WANG Xiaoguang, JIANG Hailong, LIN Qi. Analysis and Comparison of Kinematic Characteristics for Two Typical 6-DOF Suspension Mechanisms at High Angles of Attack[J]. China Mechanical Engineering, 2023, 34(06): 641-649.

陈恒通, 王晓光, 江海龙, 林麒. 两种典型六自由度支撑机构大迎角运动特性分析与对比[J]. 中国机械工程, 2023, 34(06): 641-649.

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