摘要
针对高机动无人水下运载器矢量推进技术的迫切需求,笔者提出了一种基于渐开线球齿轮传动的新型空间定向机构,分析了其结构特点,并给出了其结构简图。采用余弦矩阵法和空间解析几何法相结合,研究了其执行元件输出方向随两输入位移的变化规律,建立了其运动学模型,并由此得到了执行元件末端点的空间位置变化规律。最后,在运动学模型基础上,对物理样机进行了初步的运动控制实验。实验表明:该机构输出实现了偏摆角±60°范围的空间定向,能够满足实际应用需求。
To solve the problem of vector-force on unmanned underwater vehicle （UUV） with good maneuverability, a novel spatial pointing mechanism based on spherical gears is proposed in this paper. After analyzing the characters of this mechanism, the diagram is presented. Combined with cosine matrix method and spatial analytic geometry, the rule of the pointed direction of exeeuter is researched, then the kinematics model of this mechanism is established, and the rule of the end point of the executer is acquired. Finally, a motion control experiment is conducted based on the kinematics model. The result of the experiment shows that this mechanism can realize a spatial direction in a field beyond ＋ 60°, and it can satisfy its practical application.
出处
《机械科学与技术》
CSCD
北大核心
2009年第11期1509-1513,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家863项目(2006AA09Z235)资助
关键词
球齿轮
空间定向
运动学
运动控制
spherical gear
spatial pointing mechanism
kinematics
motion control
