Kinematical and dynamical simulation for the aircraft model at 6-DOF in WDPSS
Huang Qin, Zheng Yaqing, Liang Bin, Qi Lin · 2010
A principle prototype of 6-DOF (six degree of freedom) wire-driven parallel manipulator-WDPSS-8 (WDPSS: Wire-Driven Parallel Suspension System, 8: eight wires) has been designed and built in this paper. The kinematics model and dynamics model have been established in moving and fixed coordinate system set in the model and the manipulator respectively. The trajectory of the aircraft model along a spiral curve has been marked out for analysis. Since the solution of dynamics equation is multiple for a given motion of the model because of superfluous constraint, optimization method has been employed to search a reasonable wire tension system. The simulation including the kinematics and dynamics analysis has been carried out in the environment of MATLAB. The length and tension of the wires driving the model have been presented. The results will help to control the model's movement and calculate the aerodynamics of vehicle model in wind tunnel tests. The research will lay foundation for WDPSS used in the actual wind tunnel tests. And it proves WDPSS-8 may be used as the support system of vehicle model in the wind tunnel test.