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舵叶固定式液压球形关节运动学及性能分析

方守龙 王亮 丁帅

方守龙, 王亮, 丁帅等 . 舵叶固定式液压球形关节运动学及性能分析[J]. 北京航空航天大学学报, 2014, 40(11): 1563-1567. doi: 10.13700/j.bh.1001-5965.2013.0727
引用本文: 方守龙, 王亮, 丁帅等 . 舵叶固定式液压球形关节运动学及性能分析[J]. 北京航空航天大学学报, 2014, 40(11): 1563-1567. doi: 10.13700/j.bh.1001-5965.2013.0727
Fang Shoulong, Wang Liang, Ding Shuaiet al. Kinematics and performance analysis of rudder blade fixed hydraulic spherical joint[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(11): 1563-1567. doi: 10.13700/j.bh.1001-5965.2013.0727(in Chinese)
Citation: Fang Shoulong, Wang Liang, Ding Shuaiet al. Kinematics and performance analysis of rudder blade fixed hydraulic spherical joint[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(11): 1563-1567. doi: 10.13700/j.bh.1001-5965.2013.0727(in Chinese)

舵叶固定式液压球形关节运动学及性能分析

doi: 10.13700/j.bh.1001-5965.2013.0727
基金项目: 国家自然科学基金资助项目(50575014);国家863计划资助项目(2007AA04Z210)
详细信息
    作者简介:

    方守龙(1982-),男,河北滦南人,博士生,155359364@qq.com.

  • 中图分类号: TH122

Kinematics and performance analysis of rudder blade fixed hydraulic spherical joint

  • 摘要: 针对球面运动机构驱动方式问题,提出了一种新型的二自由度液压驱动球面运动关节机构,该机构利用超全周转动马达及舵叶摆动马达作为驱动,采用了滑轨支撑框架位置测量系统,可以实现超全周转动;给出了两驱动马达各自的油路设计方案,在机构的不同部位采取了合理的密封方法;由机构的工作原理推导了正逆运动学方程及速度雅可比矩阵,得出了机构的奇异位形;分析了机构的灵巧度性能指标,通过仿真得到了机构性能较优时的工作空间.该球形关节机构具有结构紧凑、运动精度高、负载大、并且能够实现全方位输出的特点.

     

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出版历程
  • 收稿日期:  2014-01-07
  • 网络出版日期:  2014-11-20

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