The invention provides a control method of a rope-driven flexible robot for a helicopter test flight test, the control method is realized based on the rope-driven flexible robot, the rope-driven flexible robot comprises a test fixing table, and the test fixing table, a flexible periodic pitch changing device and a high-precision total pitch adjusting device are all fixed in a helicopter cockpit. The flexible periodic pitch changing device is used for being connected with a helicopter periodic pitch changing rod and used for simulating human hands to execute helicopter blade periodic pitch changing operation. The flexible driver simulates the arm of a driver to control the periodic variable-pitch rod, rapid driving at any spatial position is achieved, and the flexible periodic variable-pitch device controls a steel rope to contract through the flexible driver so as to adjust the spatial position of the periodic variable-pitch rod. The high-precision collective pitch adjusting device is used for simulating a human hand to execute collective pitch changing operation. According to the control method of the rope-driven flexible robot for the helicopter test flight test, the test precision and reliability are improved, and meanwhile, the personnel safety in the test process is guaranteed.
本申请提供用于直升机试验试飞测试的绳驱柔性机器人的控制方法,控制方法基于绳驱柔性机器人实现,绳驱柔性机器人包括试验固定台,试验固定台,柔性周期变距装置和高精度总距调节装置均固定于直升机驾驶舱内,柔性周期变距装置用于与直升机周期变距杆相连接,用于模拟人手执行直升机桨叶周期变距操作;柔性驱动器模拟驾驶员手臂操纵周期变矩杆,实现任意空间位置快速驱动,柔性周期变距装置通过柔性驱动器控制钢绳收缩来调节周期变距杆的空间位置;高精度总距调节装置用于模拟人手执行总距变距操作。本专利公开的用于直升机试验试飞测试的绳驱柔性机器人的控制方法,提高试验的精度和可靠性,同时保障实验过程中的人员安全。
Control method of rope-driven flexible robot for helicopter test flight test
用于直升机试验试飞测试的绳驱柔性机器人的控制方法
2024-05-14
Patent
Electronic Resource
Chinese
IPC: | B25J Manipulatoren , MANIPULATORS / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen |
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