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Pose calibration method of motion mechanism for track capturing wind tunnel test

A technology of wind tunnel test and motion mechanism, applied in the field of wind tunnel test, can solve the problems of increasing the blockage of the mechanism and the easy damage of the built-in sensor, and achieve the effect of high positioning accuracy

Active Publication Date: 2017-01-04
CHINA ACAD OF AEROSPACE AERODYNAMICS
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Problems solved by technology

[0006] If the parallel mechanism of the capture trajectory wind tunnel test adopts the self-calibration method, the built-in sensor will increase the blockage of the mechanism, and the built-in sensor is easily damaged during the test

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  • Pose calibration method of motion mechanism for track capturing wind tunnel test
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  • Pose calibration method of motion mechanism for track capturing wind tunnel test

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Embodiment Construction

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0034] It should be understood that terms such as "having", "comprising" and "including" as used herein do not entail the presence or addition of one or more other elements or combinations thereof.

[0035] Such as figure 1 As shown, the present invention provides a kind of pose calibration method for capturing track wind tunnel test motion mechanism, comprising:

[0036] (1) Determine the mathematical model structure of the six-bar parallel kinematic mechanism in the capture trajectory wind tunnel test.

[0037] The six-bar parallel kinematic mechanism in the described step (1) is a 6-PTRT parallel mechanism, such as figure 2 shown. There are 6 branch chains in the parallel mechanism, and each branch chain can provide the equation of formula (1) in one pose, that is, the...

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Abstract

The invention provides a pose calibration method of a motion mechanism for a track capturing wind tunnel test. According to the method, the six-rod parallel connected motion mechanism is used in the track capturing wind tunnel test, relations between a model mass-center coordinate as well as a model attitude angle and a motor code disk value are established, and thus, unknown parameters in the six-rod parallel connected motion mechanism in the track capturing wind tunnel test are obtained. A mathematical model structure of the six-rod parallel connected motion mechanism of the track capturing wind tunnel test is determined by theory derivation, the center coordinate of a hook joint of a static platform along the whole guide rail is measured and calculated, the relation between the center coordinate of the hook joint of the static platform and the motor code disk value is fit, the pose of a calibration point is measured and a nonlinear least square method is utilized to obtain the unknown parameters in the parameterized model, and pose calibration of the motion mechanism in the wind tunnel test is realized. Thus, the method can be used for pose calibration of the six-rod parallel connected motion mechanism of the track capturing wind tunnel test, and the pose positioning accuracy is high.

Description

technical field [0001] The invention belongs to the field of wind tunnel tests, and in particular relates to a method for calibrating the position and orientation of a kinematic mechanism used for capturing track wind tunnel tests. Background technique [0002] Stored object trajectory capture wind tunnel test (Captive Trajectory System, CTS). It is an experimental technology for measuring the trajectory of external stores, and is an organic combination of wind tunnel test, computational fluid dynamics test and flight mechanics test. [0003] The capture trajectory wind tunnel test requires a six-degree-of-freedom motion mechanism that can be precisely controlled. The six-degree-of-freedom kinematic mechanism can be a serial six-degree-of-freedom kinematic mechanism or a parallel six-degree-of-freedom kinematic mechanism. Compared with the serial six-degree-of-freedom kinematic mechanism, the parallel six-degree-of-freedom kinematic mechanism has the characteristics of hig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M9/04G01M9/06
CPCG01M9/04G01M9/06
Inventor 谢峰魏忠武张江秦永明
Owner CHINA ACAD OF AEROSPACE AERODYNAMICS
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