Research On Wire-driven Parallel Robot Suspension And The Wind Tunnel Test With Related Model

Based on the analysis of the current research situation on the Wire-driven Parallel Robot(WDPR),aiming at the application in wind tunnel test,a new robot prototype of eight wires is established in this paper.The key issues,such as parameter measurement,workspace analysis,suspension scheme design and aerodynamic parameter calculation,are studied.The Standard Dynamic Model(SDM)is chosen as the test model to conduct a series of tests in a wind tunnel,and research results with engineering application value are obtained.A prototype of WDPR-8 is developed.A six component strain gauge balance is established in the middle of the model to acquire aerodynamic parameters.The model motion control subsystem and data acquisition subsystems for WDPR-8 are established.The problem that measuring aerodynamic dynamic parameters of WDPR-8 in wind tunnel test is solved.The mathematical model including hysteresis phenomenon of the wire is put forward.The parameters of the model is recognized through experimental design and the explicit expression of hysteresis curve is obtained.The influence factors to hysteresis phenomenon are analyzed and the law of hysteresis of wire tension is summarized.The influence of hysteresis phenomenon on aerodynamic parameters calculation and position measurement is analyzed and the problem of preload in WDPR-8 is solved.The interference among wires and the interference between wire and the moving platform are analyzed.The method of calculating workspace including the force-closure condition and the outline of the moving platform is given.The expression of static stiffness is deduced.Based on analysis of workspace and stiffness,the arrangement of suspension wires in WDPR-8 is optimized and the design requirement of suspension scheme in WDPR-8 is presented.The processing method of the aerodynamic parameters of WDPR-8 in a low speed wind tunnel test is discussed,on the basis of which static and dynamic tests are conducted and the test results are compared with references.The parameter measurement of stability derivatives test with WDPR-8 is established.The calculation principle of stability derivatives using compulsory oscillation method is deduced and the test results are compared with the results from other rigid facilities.The analysis of the results show reasonable reliability to the test result of this paper,validating the feasibility that the application of WDPR-8 to dynamic and stability derivative test in a low speed wind tunnel.The key issue of mechanism design and aerodynamic parameter measurement of WDPR in wind tunnel test is solved through the research in this dissertation,setting a solid foundation for the application of the parallel robot in a low speed wind tunnel test and providing reference to the expanding application of wire-driven parallel robot.