为了提高高速风洞试验的可靠性,设计了一种适用于支撑外挂物模型的六自由度机构并提出一种尾支杆变换后姿态角的补偿方法.通过串联机器人正向运动学的指数积(POE)公式,推导出机构在模型质心与机构旋转中心重合和不重合两种情况下的运动学正解公式,并给出不重合情况下不解耦姿态角的补偿量.激光跟踪仪标定试验证明该补偿方法具有可行性,从而为实现机构的轨迹规划及实时控制提供了理论基础.%To improve reliability of high speed wind tunnel tests,a wind tunnel 6-DOF mechanisms were designed,and an attitude angle compensation method was put forward when support stings were transformed.In two cases of the model centroid and the mechanism rotation center with or without coincidence,the kinematics formula was proposed based on POE of the serial robots.And then without coincidence,the compensation rate of the model decoupling attitude angles was given.The laser tracker calibration experiments prove the feasibility of the compensation method and provide theoretical basis for trajectory planning and real time control.
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