[1]王梓,郑亚青.风洞层流风场中的WDPSS-8机器人系统的末端位姿偏移及补偿[J].华侨大学学报(自然科学版),2015,36(5):494-499.[doi:10.11830/ISSN.1000-5013.2015.05.0494]
　WANG Zi,ZHENG Ya-qing.End-Pose Deviation and Compensation for WDPSS-8 Robotic System in Laminar Flow Field of Wind Tunnels[J].Journal of Huaqiao University(Natural Science),2015,36(5):494-499.[doi:10.11830/ISSN.1000-5013.2015.05.0494]
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风洞层流风场中的WDPSS-8机器人系统的末端位姿偏移及补偿()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第36卷
期数:
2015年第5期
页码:
494-499
栏目:
出版日期:
2015-09-20

文章信息/Info

Title:
End-Pose Deviation and Compensation for WDPSS-8 Robotic System in Laminar Flow Field of Wind Tunnels
文章编号:
1000-5013(2015)05-0494-06
作者:
王梓;  郑亚青
华侨大学 机电及自动化学院, 福建 厦门 361021
Author(s):
WANG Zi;  ZHENG Ya-qing
College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China
关键词:
绳牵引;  并联机器人;  低速风洞;  索系;  流固耦合;  位姿补偿
Keywords:
rope-pulling;  parallel robot;  low speed wind tunnel;  cable system;  fluid-structure interaction;  pose compensation
分类号:
TP242.2
DOI:
10.11830/ISSN.1000-5013.2015.05.0494
文献标志码:
A
摘要:
基于ANSYS/CFX软件,比较研究WDPSS-8系统在几组不同风速的层流风场中,其所表现出的流固耦合效应的动静力特性及飞行器位姿的偏移值,并提出基于迭代法的飞行器模型位姿补偿方法.研究结果表明:只有在较高风速下,模型位姿才会发生偏移且超出定位精度,从而需要进行补偿,可采用迭代法调整绳拉力值实现位姿的补偿.
Abstract:
Based on the software ANSYS/CFX, when WDPSS-8 system is placed in laminar flow field with several groups of different wind speeds, the dynamic and static properties of the fluid-structure interaction effects and the pose deviation of the aircraft is comparatively studied. And a pose compensation method of the aircraft model is proposed based on the iterative method. The results show that only under higher wind speed, the model position will offset and exceed the positioning accuracy, and need to compensate. Iteration method can be used to adjust the rope tension value to achieve the pose compensation.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2014-11-06
通信作者: 郑亚青(1974-),女,副教授,博士,主要从事绳牵引并联机器人的研究.E-mail:yq_zheng@hqu.edu.cn.
基金项目: 国家自然科学基金资助项目(50805054)
更新日期/Last Update: 2015-09-20