Flexible Tractive 6-DOF Parallel Mechanism Workspace Dynamic Solution Method

Abbr. (6-DOF/FTPM) ^PT

Bowen Wang

Key technologies of 6-DOF spatial kinematics and dynamics digital experiment (Applicable to fluid/solid coupling and deformation structure)

§   6-DOF stability control of position and attitude motion；

§   Innovative methods for variable workspace solution；

§   Multi-field coupling dynamic control of intelligent structures；

§   Multi-objective optimization and force spinor solution;

§   Dynamic cable tension and multi-directional force balance analysis;

The dynamic solution method for workspace of flexible tractive 6-DOF parallel mechanism, hereinafter referred to as (6-DOF/FTPM) ^PT, is helpful to solve engineering problems related to kinematics and dynamics of the mechanism. Combined with structural deformation and multi-field coupling problems, it will bring performance upgrades to modern engineering application technology:

1. The wind turbine unit applying (6-DOF/FTPM) ^PT technology adopts a multi-degree-of-freedom mechanism for the blade spindle under various wind farm conditions to actively collect wind energy, which is conducive to the efficient use of wind energy. After the wind turbine blade adopts an active dynamic blade, in the whole life cycle, the blade angle can combine the wind farm wind energy periodic/random change conditions to realize the automatic transformation algorithm and the force flow/solid coupling and intelligent structure deformation ability, greatly improve the efficiency of wind power generation. It will also be used to avoid the impact of irregular turbulence such as typhoon/vortex;

2. The wing surface angle of fixed wing/tiltrotor wing with (6-DOF/FTPM) ^PT technology can change with the speed and aerodynamic influence. The wing structure actively controls the wing surface deformation, and then adjusts the dynamic attitude of the fuselage to form a new generation of high-speed unmanned aerial vehicle fuselage structure;

3. Under the condition of thermal radiation, the microstructure/mechanism will be heated to cause structural deformation, which will cause passive deformation of the structure. Therefore, using the (6-DOF/FTPM) ^PT technology, the microstructure/mechanism can be actively deformed to offset the mechanism damage caused by passive deformation, thus forming a new space position attitude. Its significance is to maintain the integrity and safety of the microstructure, and also to maintain the precise position of the mechanism space, this plays a key role in supporting the multi-degree-of-freedom lithography technology of semiconductor nanoscale units;

4. Under the condition of air/liquid flow field, when a random force field or nonlinear force is generated, the blade mechanism can change the blade angle to protect the structural safety of the blade mechanism and reduce the impact of noise and vibration. At the same time, the space position and attitude angle of airship and submarine equipment will form a new path planning algorithm according to the (6-DOF/FTPM) ^PT technology, and adjust the heading and attitude control algorithm in time to meet the solution of the fluid/solid coupling problem, Avoid uncontrolled autonomous track;

5. The flexible intelligent structure with (6-DOF/FTPM) ^PT technology can accurately predict and calculate the 6-DOF deformation of the flexible rubber tire caused by high-speed dynamic force. The core algorithm of (6-DOF/FTPM) ^PT can calculate the force on the flexible surface and the multi-directional force constraint of the body attitude, and obtain the axial stability of the tire under the high-speed motion state of the limit position angle;

6. For high-speed off-road vehicles with (6-DOF/FTPM) ^PT technology, the algorithm of 6-DOF body on spring and ten-degree-of-freedom control system of the whole vehicle forms stability control under the influence of multi-body dynamics in high-speed vehicle movement and road environmental conditions, and timely adjusts the damping effect of body suspension system and the feedback between mechanical suspension and absorbs passive impact energy;

7. The (6-DOF/FTPM) ^PT technology is applied to military equipment such as air flexible fuel dispenser oil pipeline/new generation laser turret, which can realize the coupling between the flow field and structural deformation between the position and attitude of multiple targets, and greatly improve the stability of the equipment in the dynamic moving process, the accuracy of dynamic target targeting and the application effect of multi-body dynamics engineering;

(6-DOF/FTPM) ^PT technology will enable mechanical motion to get rid of the constraint of plane motion, realize the key technology of single-body 6-DOF dynamic active target motion control, and open up a new situation in the field of mechanical 6-DOF mechanism kinematics and dynamics.

王博文©

Proprietary Technology Holder

中文版 • 柔性牵引六自由度并联机构工作空间动态求解方法(6-DOF/FTPM)^PT

English Version: Flexible Tractive 6-DOF Parallel Mechanism Workspace Dynamic Solution Method