Kinematic And Dynamic Characteristic Analysis Of Drive Mechanism In Large Wind Tunnel Capture Trajectory System Test

The CTS-Captive Trajectory System test in the wind tunnel,is applied to simulate the trajectory characteristics of external store while separating from the machine tool,such as displacement,velocity,acceleration,etc,and analyze the influence of separation to the flying of machine tool on security.In order to meet the demand of CTS test of a certain big wind tunnel,it is necessary to develop a 6-DOF Mechanism for supporting external store model.The support mechanism should have features such as large travel range,high motion accuracy,strong bearing capacity,and low obstruction.It also could get to the designated position quickly for acquiring data.Taking a 6-DOF Mechanism with supporting model as the research object,according to design index,the thesis will design the structure of 6-DOF Separate Body Mechanism,and do the kinematics analysis,vibration mode function analysis and static and dynamic analysis.The concrete work in this thesis are as follows:1.According to the design index,a 6-DOF Mechanism meeting different kinds of requirement is designed;and the structure of the mechanism is introduced and the degree of obstruction of the mechanism is checked.2.Based on D-H Parameter Method,Kinematics Model of mechanism is established,the direct and inverse solutions of the global mechanism are solved and the result of solution is test to ensure the correct of the kinematics model.3.Applying the Robotics Toolbox,a Mechanism Simulation Model is built,direct and inverse kinematics simulation of 6-DOF Mechanism are done,the motion parameter curves of each joint are obtained.By analyzing the X cantilever beam,vibration mode function is obtained,the amplitude of a typical pose is calculated,providing reference for further optimization of the mechanism.4.Based on finite element method,Workbench software is used to analyze the static characteristics of the mechanism,and the strength and stiffness of the mechanism are verified.Dynamic characteristics of the mechanism are analyzed in modal and harmonic response.The vibration frequency that has great influence on the mechanism and the vibration Amplitude are found out.The results of the harmonic response analysis of the mechanism are compared with the calculation results of the vibration mode function to verify the correctness of the analysis result.