【作者】 张强；

【导师】 郭希娟；

【作者基本信息】 燕山大学 ， 计算机软件与理论， 2010， 硕士

【摘要】 直升机具有独特的飞行能力,它的应用已日益广泛地遍及军事和民用的各个领域。因此对其飞行性能和飞行品质的要求越来越高。直升机以动力驱动的旋翼作为主要升力来源。近年来,各国专家对直升机的研究越来越热,其中对直升机旋翼系统的研究尤为突出。同时,随着直升机的发展,各国科研工作者对直升机提出了很多分析其结构和动力学性能的方法。当今少自由度并联机器人的性能指标分析和仿真,是机器人研究领域的热门课题,每一个新机构在投入到工业应用领域之前,都需要做很多方面的研究。本课题对直升机旋翼系统的上操纵机构进行相应的分析。首先,本文结合直升机旋翼系统上操纵机构,提出了4-RSS+PS+2-RRS并联机构。其次,利用螺旋理论,计算了4-RSS+PS+2-RRS的自由度,得到一个7个运动链的3自由度的两转一移并联机构,并且合理的选出3个驱动。4-RSS+PS+2-RRS机构是一种新型多支链少自由度并联机构,分别采用影响系数法和微分法求出机构的输入速度和输入加速度的仿真曲线,同时验证了影响系数矩阵的正确性。利用速度全域性能指标,加速度全域性能指标和惯性力性能指标,在考虑机构尺寸和杆件质量的前提下,分析了4-RSS+PS+2-RRS机构的动力学性能,绘出上述指标的性能图谱,得到该机构尺寸和动力学性能的关系变化趋势。同时也得到了所讨论的机构范围内性能较好的机构尺寸。再次,为了进一步分析并验证以上性能指标的正确性,运用MATLAB,Visual C++,OpenGL对机构建模、仿真。最后,结合直升机旋翼系统的运动状况和动力学性能指标分析的结果,设计了一个旋翼系统测试样机。更多还原

【Abstract】 Due to characteristic flying, helicopter is applied to military and civilian broadly. Its flight performance and flying qualities is required to improve continuously. In recent years, researchers have researched more and more on the helicopter, especially helicopter rotor system. With the development of helicopter technique, some analytical methods of mechanism and dynamic performance of helicopter rotor system are proposed.Today the performance indicator analysis and simulation of less-DOF parallel robot is really a hot topic. We need to do a lot of research before the new parallel mechanism input to the actual field of industrial applications. In this subject we analyze the 4-RSS + PS +2- RRS parallel mechanism.Firstly, an equivalent mechanism named 4-RSS+PS+2-RRS parallel mechanism is put forward by analyzing the structure of rotating ring in helicopter swash plate mechanism, which has 7 kinematical sub chains.Secondly, the mobility of the parallel mechanism is calculated using the screw theory and the result is three freedoms of degree (DOF), two of rotational DOF, one of translational DOF. Three drivers are reasonable selected. By the method of influence coefficient and differentiation, curses of the input speed and input acceleration are got, which demonstrate that the influence coefficient is correct. On considering of the size of the mechanism and mass of legs, global dynamical performance indices of speed, acceleration, inertial force are analyzed, and atlas of them are got. Using the atlas, the size of better performance is discussed, which is useful for dimensional optimization design of parallel mechanism.Thirdly, we analyze and verify the correctness of the above performance indicators by modeling and simulation with MATLAB, Visual Studio, and OpenGL. Finally, we design a rotor system testing prototype, combined with the movement of a helicopter rotor system and dynamics of performance results of the analysis.更多还原