Design On The Manipulator With 3-DOF And Control System In Low Speed Wind Tunnel

Now,aircrafts are becoming increasingly advanced and costly.If a new aircraft is designed,its security cannot be guaranteed that test flight directly.So,the aircraft usually has to carry out a series of tests in wind tunnel.In this paper,a set of manipulator with three degrees of freedom is designed for the captive trajectory simulation test(CTS).It can achieve three rotational degrees of freedom of pitch and yaw and roll.Firstly,the thesis introduces the background of the mission,then studies the typical CTS devices in China and abroad,as well as the development trend of the serial-parallel mechanism and control system.Finally,the design of manipulator arm and control system is implemented.In the design of the manipulator transmission mechanism,the pitch and yaw mechanism adopt DC servo motors that driving furcation connection rotating by the worm and gear in the range of +45 degrees;the roll mechanism uses a DC servo motor to drive the measuring head to rotate by a harmonic reducer in the range of ±180 degrees.The angle encoder is installed on each spin axis to form a closed loop control.Control system uses fieldbus,and the software uses LabWindows/CVI development environment.Thus,the combination of the transmission mechanism and the control system makes the manipulator have a high technical index and working performance.The development and application of the manipulator with three degrees of freedom which designed in this paper,provides the model support system with a big load,safe and reliable,easy to operate for wind tunnel CTS test.And it provides a new train of thought for other multiple degrees of freedom movement system research in low speed wind tunnel.