Wind Tunnel Capture Trajectory Simulation Research On Coordinated Motion Technology Of Upper And Lower Mechanisms

With the continuous maturity of individual mechanism wind tunnel capture trajectory simulation techniques and the deepening of related research,a single mechanism often cannot meet the requirements of complex capture trajectory simulation.For this purpose,it is necessary to use the upper and lower two-coordinate coordinated motion to achieve more complex capture.Trajectory testing and meeting ever-increasing demands.This paper mainly studies the kinematics in the coordinated motion of the two mechanisms of the capture trajectory simulation,the collision detection and coordinated motion control strategies of key parts of the mechanisms,and the co-simulation techniques.The main research contents are as follows:(1)The D-H method is used to establish the kinematics mathematical model of individual wind tunnel capture trajectory simulation mechanism,and the mathematical model of forward and inverse kinematics equations including position and velocity combined by two simulations is derived,and the mathematical model is verified by MATLAB and ADAMS.(2)Based on the kinematics model of the upper and lower mechanisms,the workspace analysis of the upper and lower mechanisms is completed.The OBB bounding box collision detection method is adopted for the parts where the upper and lower mechanisms are prone to collision during the movement,and the collision detection model of the mechanisms are established.The simulation of the established model is carried out,which lays a foundation for ensuring the reliability of the coordinated motion of the upper and lower mechanisms.(3)Based on the kinematics model of the single trajectory capture trajectory test mechanism,the control strategy of the upper and lower mechanisms is designed and analyzed,and the position and velocity models of the three coordinated kinematics based on the task model are established.The related control principle and coordinated control system are described in detail,and the three coordinated kinematic models are simulated and verified.(4)The ADAMS and MATLAN co-simulation method was used to establish the co-simulation control model of the upper and lower mechanisms.The co-simulation analysis of the displacement,velocity and acceleration of the upper and lower mechanisms was carried out and verified by experiments,and verified by experiment.