﻿ 舵叶固定式液压球形关节运动学及性能分析
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Kinematics and performance analysis of rudder blade fixed hydraulic spherical joint
Fang Shoulong, Wang Liang, Ding Shuai
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
Abstract:In view of the problem of driving method for the spherical motion mechanism, a new type of hydraulic drive spherical joint with two degrees of freedom was proposed. The joint mechanism used a full cycle rotating motor and a rudder blade swing motor as drive, adopted a measuring system of slide support frame, and could achieve a full rotation. The oil circuit design programs for the two driving motor were given respectivly. The reasonable sealing method was adopted in different parts of the mechanism. Based on the mechanism theory, the forward and inverse kinematics equations and the velocity Jacobian matrix were derived and the singular configuration of the mechanism was found. Through the analysis of dexterity performance index of the mechanism, the workspace was found by simulation when the mechanism was in a good performance. The spherical joint mechanism has the following characteristics, compact structure, high motion accuracy, large load, and it can complete the omni-directional output.
Key words: spherical joints     hydraulic actuation     full cycle motor     dexterity     Jacobian matrix

1 机构模型及工作原理 1.1 机构简介

 图 1 球形关节机构示意图Fig. 1 Schematic drawing of spherical joint

 图 2 关节内部结构Fig. 2 Interior structure of joint

 图 3 零件示意图Fig. 3 Schematic drawing of parts
1.2 坐标系建立

 图 4 球形关节坐标系Fig. 4 Coordinates of spherical joint

1.3 机构驱动描述

 图 5 马达油路示意图Fig. 5 Schematic drawing of motor oil circuit

2 机构运动学及性能分析 2.1 正解分析

 图 6 滑轨支撑架示意图Fig. 6 Schematic drawing of support frame of slide rail

2.2 逆解分析

2.3 奇异位形分析

γ=0时,机构处在奇异位形,此时超全周马达带动舵叶旋转α时,球形转子末端p点位置不变,即机构失去了一个自由度,如图 7所示.此时,舵叶的运动可由码盘Ⅲ进行观测.

 图 7 关节奇异位形Fig. 7 Singular configuration of joint

2.4 灵巧度评价指标

1/kG的取值范围为(0,1],该值越接近1,说明机构各向同性就越好,灵巧度就越高.

3 仿 真 3.1 运动分析

 图 8 p点位置曲线Fig. 8 Position curves of point p

 图 9 码盘旋转角度曲线Fig. 9 Rotation angle curves of code wheel

3.2 机构性能分析

 图 10 灵巧度性能指标曲线Fig. 10 Dexterity index curve

4 结 论

1) 提出了一种新型的基于液压驱动二自由度球面运动关节，该关节机构采用了液压驱动，可以承受大负载；通过两马达转角的叠加，可以实现球面上任意位置的输出.

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#### 文章信息

Fang Shoulong, Wang Liang, Ding Shuai

Kinematics and performance analysis of rudder blade fixed hydraulic spherical joint

Journal of Beijing University of Aeronautics and Astronsutics, 2014, 40(11): 1563-1567.
http://dx.doi.org/10.13700/j.bh.1001-5965.2013.0727