CN101793592B - Wind tunnel model supporting device - Google Patents
Wind tunnel model supporting device Download PDFInfo
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- CN101793592B CN101793592B CN2010101024679A CN201010102467A CN101793592B CN 101793592 B CN101793592 B CN 101793592B CN 2010101024679 A CN2010101024679 A CN 2010101024679A CN 201010102467 A CN201010102467 A CN 201010102467A CN 101793592 B CN101793592 B CN 101793592B
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Abstract
The invention discloses a wind tunnel model supporting device which comprises a movable platform, a clamping device, a first driving unit and a second driving unit, wherein the movable platform has three translational freedom degrees and at least one rotation freedom degree. The clamping device is connected with the movable platform and is used for fixing and supporting the model. The first driving unit and the second driving unit are arranged on the movable platform and used for driving the clamping device, and therefore, the clamping device obtains the freedom degrees of rotation in horizontal and transversal directions. The first driving unit comprises a first driving motor and a first rope traction mechanism. The second driving unit comprises a second driving motor and a second rope traction mechanism. The wind tunnel model supporting device with simple and reliable structure can realize six freedom degrees of the model in the wind tunnel test, effectively expand the model pitch and the roll amplitude capable of being realized by model supporting, and decrease the acceleration, the motion speed and the motion travel of the driving units through the first driving unit and second driving unit which are connected in parallel.
Description
Technical field
The present invention relates to wind tunnel experiment equipment field, especially relate to a kind of wind-tunnel model supporting device that model is supported of in wind tunnel experiment, being used for.
Background technology
Wind tunnel experiment is one of three basic means of carrying out aerodynamic studies, and the achievement of wind tunnel experiment has promoted the development of Aero-Space causes forcefully.In wind tunnel experiment, need dummy vehicle (hereinafter to be referred as model) often to make attitude and actions such as pitching, driftage, lift-over, heave, transverse translation and longitudinal translation.And to realize above-mentioned attitude and action, and must be earlier model being supported among the wind-tunnel with mounting system, this support i.e. alleged wind tunnel model support system usually, and it is the mechanism that realizes model attitude control in the wind-tunnel.In wind tunnel experiment, model supporting way commonly used comprises belly stay, shoe, back up and bracing cable support etc.In different types of wind tunnel test, can adopt the various supports mode as the case may be, these various supports modes have characteristics and advantage separately.
Ripe gradually along with the appearance of parallel institution and correlation theory, parallel institution advantage such as does not accumulate with its high rigidity, high response speed and error, is applied to very soon in the wind tunnel model support system.The wind tunnel model support system that extensively adopts at present has the parallel institution wind tunnel model system and Hexaglide (6-PSS) the parallel institution wind tunnel model support system of Stewart platform.Though these two types of wind tunnel model support systems have higher dynamic response characteristic, be difficult to satisfy in the wind tunnel model test requirement of experiment of model being done high-frequency, large amplitude motion.Because in wind tunnel test, model is to be connected by a rod member and moving platform, and moving platform can not get into the wind district in process of the test, and this just requires rod member length between moving platform and the model at least greater than the radius of wind-tunnel.Yet because the restriction of wind-tunnel radius when model is done large amplitude, high-frequency motion, can make the needed input acceleration of wind tunnel model support system quite big, this is that general driver element can't be realized, and complex structure, makes, assembly cost is higher.
Summary of the invention
The present invention is intended to solve at least one of technical matters that exists in the prior art.
For this reason; The objective of the invention is to propose a kind of wind-tunnel model supporting device, but the pitching of this wind-tunnel model supporting device enlargement model and lift-over amplitude, the pitching that has improved wind tunnel model and roll attitude fulfillment capability driver element movement travel, movement velocity and acceleration have been reduced; Dynamic property is good; Kinematic accuracy is high, can realize the motion of high-frequency large amplitude, simple in structure, reliable operation.
In order to achieve the above object, wind-tunnel model supporting device according to an embodiment of the invention comprises: moving platform, said moving platform have three translational degree of freedom and at least one rotational freedom; Clamping device, said clamping device are connected with said moving platform and are used for fixing and support said model; And first and second driver elements, said first and second driver elements are arranged on the said moving platform, are used to drive said clamping device so that said clamping device obtains the degree of freedom of rotating along vertical and horizontal.Wherein, Said first driver element comprises: first drive motor; And the first cable traction mechanism; The said first cable traction mechanism of said first drive motor drives, the said first cable traction mechanism and then draw said clamping device, in the degree of freedom of rotating with the vertical and horizontal of realizing clamping device one; Said second driver element comprises: second drive motor; And the second cable traction mechanism; The said second cable traction mechanism of said second drive motor drives; The said second cable traction mechanism and then draw said clamping device is with in the degree of freedom of the horizontal and vertical rotation that realizes said clamping device another.
According to wind-tunnel model supporting device of the present invention, can realize the six-freedom motion of model in the wind tunnel test, and through the parallelly connected first cable traction mechanism and the second cable traction mechanism; Pitching and lift-over amplitude, the pitching that has improved wind tunnel model and roll attitude fulfillment capability that can enlargement model; Reduced driver element movement travel, movement velocity and acceleration, dynamic property is good, and kinematic accuracy is high; Can realize the motion of high-frequency large amplitude, simple in structure, reliable operation.
In addition, the wind-tunnel model supporting device according to the embodiment of the invention also has following additional technical feature:
Said first driver element and said second driver element are arranged mutual vertically.
The said first cable traction mechanism comprises: first wireline reel, and said first wireline reel is connected with said first drive motor; With the first rope spare, the said first rope spare is wound on said first wireline reel, and two ends are connected with said clamping device respectively, moves along direction up and down when the first volume sways, to draw said clamping device.
In the said first cable traction mechanism; The said first rope spare comprises first rope and second rope; First end of said first and second ropes oppositely is wound on said first wireline reel respectively, and second end of said first and second ropes is connected with two relative positions of said clamping device respectively.
In the said first cable traction mechanism, comprise that also being used for fixing first motor that supports first motor supports; And first support of fixed support first wireline reel, said first motor supports and first support is fixed on the said moving platform.
The said second cable traction mechanism comprises: second wireline reel, and said second wireline reel is connected with said second drive motor; With the second rope spare, the said second rope spare is wound on said second wireline reel, and two ends are connected with said clamping device respectively and move along direction up and down when second wireline reel rotates, to draw said clamping device.
The said second rope spare is made up of the 3rd rope and the 4th rope; First end of wherein said third and fourth rope oppositely is wound on said second wireline reel respectively, second end of said third and fourth rope respectively with said clamping device on two other relative positions be connected.
In the said first cable traction mechanism, comprise that also being used for fixing second motor that supports second motor supports; And second support of fixed support second wireline reel, said second motor supports and second support is fixed on the said moving platform.
Said clamping device is a Hooke's hinge, and it comprises: the upper hinge frame, and the top of said upper hinge frame is connected through the moving platform web member with said moving platform bottom, and said upper hinge puts up arch and two ends are formed with first circular hole on same axis respectively; Following hinge mount; The said bottom of hinge mount down is connected with said model through the model web member; Said hinge mount down forms the hemisphere hull shape; And locate to be formed on two flanges on the same axis on the edge of, be formed with second circular hole respectively on said two flanges, the axis of the axis of said two second circular holes and said first circular hole is perpendicular; And joint spider, four axle heads of said joint spider are located at respectively in said two first circular holes and two second circular holes rotationally.
The two ends of the said first rope spare pass respectively behind the moving platform with said hinge mount down on two relative positions be connected; The two ends of the said second rope spare pass respectively behind the said moving platform with said hinge mount down on two other relative position be connected, the line of said two other relative position is vertical with the line of said two relative positions.
Said moving platform has 3 translational degree of freedom and three rotational freedoms.
According to wind-tunnel model supporting device of the present invention; The parallel institution that adopts first and second cable traction mechanisms traction Hooke's hinge to rotate; Significantly improved the pitching and the roll attitude fulfillment capability of model, reduced acceleration, movement velocity, movement travel that the six-freedom parallel wind tunnel model supports each driver element simultaneously, in addition this mechanism also to have a moving-mass little; Dynamic property is good, the advantage that kinematic accuracy is high.
As a kind of novel parallel institution, the cable traction parallel institution have work space big, can recombinate, advantage such as simple in structure, easy to assemble, high load capability and load/weight ratio, cheap and movement velocity are fast.Rope traction and parallel-connection mechanism is applied to not only can the implementation model bigger angle range of wind tunnel model and can be good at solving rigidity that model supports and the contradiction between the aerodynamic interference.
And because all kinematic pairs all are lower pairs, and the secondary original paper surface of component movement is the face of cylinder or plane entirely, thus processing, install and adjustment all more convenient, can obtain higher precision; Contact between the original paper of component movement pair all is the face contact, and the unit pressure that it bears is less, so wearing and tearing are less, reliability is higher.
Additional aspect of the present invention and advantage part in the following description provide, and part will become obviously from the following description, or recognize through practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage obviously with are easily understood becoming the description of embodiment from combining figs, wherein:
Fig. 1 is the structural representation according to the wind-tunnel model supporting device of the embodiment of the invention; And
Fig. 2 is the structural representation of the Hooke's hinge of the wind-tunnel model supporting device shown in Fig. 1.
Main description of reference numerals:
1 parallel institution, 2 moving platforms
3 ropes
31 the 3rd ropes, 32 first ropes, 33 second ropes 34 the 4th rope
5 times hinge mounts of 4 joint spiders, 6 model web members, 7 models
8 motors support
81 first motors support 82 second motors and support
9 moving platform web members, 10 upper hinge framves
11 motors
111 first drive motor, 112 second drive motor
15 supports
151 first supports (directions X), 152 first supports (directions X)
153 first supports (Y direction), 154 first supports (Y direction)
161 first wireline reels, 162 second wireline reels
A revolute pair B revolute pair C revolute pair D revolute pair
Embodiment
Describe embodiments of the invention below in detail, the example of said embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Be exemplary through the embodiment that is described with reference to the drawings below, only be used to explain the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention; Term " vertically ", " laterally ", " on ", the orientation of indications such as D score, " top ", " end " and O-XYZ coordinate system or position relation be for based on orientation shown in the drawings or position relation; Only be for the ease of describing the present invention rather than requiring the present invention therefore can not be interpreted as limitation of the present invention with specific azimuth configuration and operation.For example, in the present invention, mentioned laterally can refer to the Y direction shown in the accompanying drawing 2, the said directions X that vertically can refer to indication among Fig. 2, and vice versa.And vertically refer to the indicated direction of Z axle.Need to prove that this is explained only for exemplary purposes, understands main idea of the present invention to make things convenient for those of ordinary skill, and can not think to limit protection scope of the present invention.
Wind-tunnel model supporting device according to the embodiment of the invention is described with reference to the drawings below.
As depicted in figs. 1 and 2, comprise moving platform 2, clamping device 100, first driver element 200 and second driver element 300 according to the wind-tunnel model supporting device of the embodiment of the invention.
Wherein, moving platform 2 has three translational degree of freedom and a rotational freedom.Promptly along the up-down of Z axle, along the transversal translation of Y axle, along vertical translation of X axle with around the driftage of Z axle.Certainly; In another example of the present invention; Moving platform 2 also can have the more freedom degree, such as when having six-freedom degree, for along the up-down of Z axle, along the transversal translation of Y axle, along vertical translation of X axle, around the driftage of Z axle, around the lift-over of Y axle and around the pitching of X axle.
Said clamping device 100 is connected with moving platform 2 and is used for fixing bolster model 7.
According to one embodiment of present invention; First driver element 200 and second driver element 300 are arranged on the moving platform 2 mutual vertically; Promptly lay respectively in the XOZ plane with the YOZ plane in and be arranged on the axis direction of X axle and on the axis direction of Y axle, be used to drive clamping device 100 so that clamping device 100 obtains along the degree of freedom of X axle and the rotation of Y axle.For example, suppose first driver element 200 along X axle layout, first driver element 200 will be controlled clamping device 100, and then make model do rolling movement; At this moment, then second driver element 300 arranges that along the Y axle second driver element 300 will be controlled clamping device 100, and then make model do luffing.
One the embodiment according to the present invention, said clamping device 100 is a Hooke's hinge.As shown in Figure 2, Hooke's hinge 100 comprises upper hinge frame 10, following hinge mount 5 and joint spider 4.Wherein, be fixedly connected through moving platform web member 9 with moving platform 2 bottoms on the top of upper hinge frame 10.And the bottom of hinge mount 5 is connected with model 7 through model web member 6 down.
Particularly, upper hinge frame 10 overarches, and its two ends are formed with 101, two first circular holes 101 of first circular hole respectively on same axis, and this axis is along X-direction.Following hinge mount 5 forms the hemisphere hull shape, and it is perpendicular to locate to be formed on the axis of the axis that is formed with 102, two second circular holes 102 of second circular hole on 111, two flanges 111 of two flanges on the same axis respectively and first circular hole 101 on the edge of, promptly along Y direction.Four axle heads of joint spider 4 are located at respectively in two first circular holes 101 and two second circular holes 102 rotationally, thereby have formed two groups of orthogonal revolute pairs of axis: A, B and C, D.Wherein, the axis of A, B revolute pair is along X-direction, and the axis of C, D revolute pair is along Y direction, and intersects at the central point O of joint spider 4.Thus, upper hinge frame 10 can be done independent rotation around joint spider 4 respectively with following hinge mount 5.
As shown in Figure 1; First driver element 200 further comprises: first drive motor 111; And the first cable traction mechanism, first drive motor 111 drives the said first cable traction mechanism, the said first cable traction mechanism and then drive clamping device 100; With the degree of freedom of vertical rotation of realizing clamping device 100, even model 7 carries out rolling movement around the Y axle.
Wherein, the said first cable traction mechanism comprises first wireline reel 161 and the first rope spare.First wireline reel 161 is connected with first drive motor 111; The said first rope spare is wound on first wireline reel 161; And two ends are connected with clamping device 100; With when the first volume sways, for example do when rotating forward or backwards moving up and down at first wireline reel 161, realize rolling movement via clamping device 100 trailed models 7.
According to one embodiment of present invention; The said first rope spare comprises first rope 32 and second rope 33; First rope 32 and second rope 33 relatively oppositely are wound on first wireline reel 161 through its first end separately respectively, and second end of second end of first rope 32 and second rope 33 is connected with relative two position E, the F of clamping device 100 respectively.For example, (stretch out the right hand, four refer to hold with a firm grip in the first end dextrorotation of first rope 32; Thumb is vertical, if the rope strand of rope refers to the direction of crooked direction rotation to thumb by four, this rope is dextrorotation); First end of second rope 33 is left-handed, and (stretch out left hand, four refer to hold with a firm grip, and thumb is vertical; If the rope strand of rope refers to the direction of crooked direction rotation to thumb by four, this rope is left-handed).
The said first cable traction mechanism also comprises: be used for fixing first motor that supports first drive motor 111 and support 81; And two first supports 151,152 of fixed support first wireline reel 161, said first motor supports 81 and first support 151,152 and all is fixed on the moving platform 2.
Thus, drive first wireline reel, 161 forward or reverse through first drive motor 111, can make one in first rope 32 and second rope 33 rolled-up, another is released out, thus drive clamping device 100, implementation model 14 is around the rolling movement of Y axle.
Please refer again to Fig. 1; Second driver element 300 further comprises: second drive motor 112; And the second cable traction mechanism, second drive motor 112 drives the said second cable traction mechanism, the said second cable traction mechanism and then drive clamping device 100; With the degree of freedom of the lateral rotation that realizes clamping device 100, even model 7 carries out luffing around the X axle.
Wherein, the said second cable traction mechanism comprises second wireline reel 162 and the second rope spare.Second wireline reel 162 is connected with second drive motor 112; The said second rope spare is wound on second wireline reel 162; And two ends are connected with said clamping device 100 respectively, with when second wireline reel 162 rotates, for example do when rotating forward or backwards moving up and down at second wireline reel 162; Draw said clamping device 100, and then trailed model 7 is realized luffing.
According to one embodiment of present invention; The said second rope spare comprises the 3rd rope 31 and the 4th rope 34; The 3rd rope 31 and the 4th rope 34 relatively oppositely are wound on second wireline reel 162 through its first end separately respectively, and second end of second end of the 3rd rope 32 and the 4th rope 34 is connected with relative two position H, the G of clamping device 100 respectively.For example, (stretch out the right hand, four refer to hold with a firm grip in the first end dextrorotation of first rope 32; Thumb is vertical, if the rope strand of rope refers to the direction of crooked direction rotation to thumb by four, this rope is dextrorotation); First end of second rope 33 is left-handed, and (stretch out left hand, four refer to hold with a firm grip, and thumb is vertical; If the rope strand of rope refers to the direction of crooked direction rotation to thumb by four, this rope is left-handed).
The said second cable traction mechanism also comprises: be used for fixing first motor that supports second drive motor 112 and support 82; And two first supports 153,154 of fixed support second wireline reel 162, said second motor supports 82 and first support 153,154 and all is fixed on the moving platform 2.
Thus, drive second wireline reel, 162 forward or reverse through second drive motor 112, can make one in the 3rd rope 31 and the 4th rope 34 rolled-up, another is released out, thus drive clamping device 100, implementation model 14 is around the luffing of X axle.
In addition, position E facing each other, F, H, G are positioned at the edge of hinge mount 5 down on second end of said first to fourth rope and the clamping device 100.Wherein, position E, F are positioned at the XOZ plane, and position H, G are positioned at the YOZ plane.Alternatively, above-mentioned four points are positioned at respectively on two axis of joint spider 4 in twos.
Below with reference to the concise and to the point course of work of describing according to the wind-tunnel model supporting device of the embodiment of the invention of Fig. 1-2.
At first describe wind-tunnel model supporting device according to the present invention and be used for the process of rolling movement of implementation model.First drive motor 111 drives first wireline reel, 161 forward rotation; First wireline reel 161 rotate cause one in first rope 32 and second rope 33 rolled-up; Another is released out, and vice versa, thereby drives clamping device 100; Even the C-D revolute pair of Hooke's hinge 100 is rotated, implementation model 14 is around the rolling movement of Y axle.
Describe wind-tunnel model supporting device according to the present invention then and be used for the process of luffing of implementation model.Second drive motor 112 drives second wireline reel, 162 forward rotation; Second wireline reel 162 rotate cause one in the 3rd rope 31 and the 4th rope 34 rolled-up; Another is released out, and vice versa, thereby drives clamping device 100; Even the A-B revolute pair of Hooke's hinge 100 is rotated, implementation model 14 is around the rolling movement of X axle.
According to wind-tunnel model supporting device of the present invention; Adopt the parallel institution of first and second cable traction mechanisms traction Hooke's hinge rotation, can realize the six degree of freedom of model in the wind tunnel test, effectively the pitching of enlargement model 14 and lift-over amplitude; The pitching and the roll attitude fulfillment capability of model have been significantly improved; Reduced acceleration, movement velocity, movement travel that the six-freedom parallel wind tunnel model supports each driver element simultaneously, in addition this mechanism also to have a moving-mass little, dynamic property is good; The advantage that kinematic accuracy is high, simple in structure, good reliability.
As a kind of novel parallel institution, the cable traction parallel institution have work space big, can recombinate, advantage such as simple in structure, easy to assemble, high load capability and load/weight ratio, cheap and movement velocity are fast.Rope traction and parallel-connection mechanism is applied to not only can the implementation model bigger angle range of wind tunnel model and can be good at solving rigidity that model supports and the contradiction between the aerodynamic interference.
And because all kinematic pairs all are lower pairs, and the secondary original paper surface of component movement is the face of cylinder or plane entirely, thus processing, install and adjustment all more convenient, can obtain higher precision; Contact between the original paper of component movement pair all is the face contact, and the unit pressure that it bears is less, so wearing and tearing are less, reliability is higher.
Although illustrated and described embodiments of the invention; Those having ordinary skill in the art will appreciate that: under the situation that does not break away from principle of the present invention and aim, can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is limited claim and equivalent thereof.
Claims (11)
1. wind-tunnel model supporting device comprises:
Moving platform, said moving platform have three translational degree of freedom and at least one rotational freedom;
Clamping device, said clamping device are connected with said moving platform and are used for fixing and support said model; And
First and second driver elements, said first and second driver elements are arranged on the said moving platform, are used to drive said clamping device so that said clamping device obtains along the degree of freedom of vertical and horizontal rotation, wherein,
Said first driver element comprises: first drive motor; And the first cable traction mechanism; The said first cable traction mechanism of said first drive motor drives; The said first cable traction mechanism and then draw said clamping device, in the degree of freedom of rotating with the vertical and horizontal of realizing clamping device one;
Said second driver element comprises: second drive motor; And the second cable traction mechanism; The said second cable traction mechanism of said second drive motor drives; The said second cable traction mechanism and then draw said clamping device is with in the degree of freedom of the horizontal and vertical rotation that realizes said clamping device another.
2. wind-tunnel model supporting device according to claim 1, wherein said first driver element and said second driver element are arranged mutual vertically.
3. wind-tunnel model supporting device according to claim 1, the wherein said first cable traction mechanism comprises:
First wireline reel, said first wireline reel is connected with said first drive motor; With
The first rope spare, the said first rope spare is wound on said first wireline reel, and two ends are connected with said clamping device respectively, moves along direction up and down when the first volume sways, to draw said clamping device.
4. wind-tunnel model supporting device according to claim 3; The wherein said first rope spare comprises first rope and second rope; First end of said first and second ropes oppositely is wound on said first wireline reel respectively, second end of said first and second ropes respectively with said clamping device on two relative positions be connected.
5. according to claim 3 or 4 described wind-tunnel model supporting devices, wherein also comprise: be used for fixing first motor that supports first motor and support; And first support of fixed support first wireline reel, said first motor supports and first support is fixed on the said moving platform.
6. wind-tunnel model supporting device according to claim 4, the wherein said second cable traction mechanism comprises:
Second wireline reel, said second wireline reel is connected with said second drive motor; With
The second rope spare, the said second rope spare is wound on said second wireline reel, and two ends are connected with said clamping device respectively and move along direction up and down when second wireline reel rotates, to draw said clamping device.
7. wind-tunnel model supporting device according to claim 6; The wherein said second rope spare is made up of the 3rd rope and the 4th rope; First end of wherein said third and fourth rope oppositely is wound on said second wireline reel respectively, second end of said third and fourth rope respectively with said clamping device on two other relative positions be connected.
8. according to claim 6 or 7 described wind-tunnel model supporting devices, also comprise: be used for fixing second motor that supports second motor and support; And second support of fixed support second wireline reel, said second motor supports and second support is fixed on the said moving platform.
9. according to claim 3 or 6 described wind-tunnel model supporting devices, wherein said clamping device is a Hooke's hinge, and it comprises:
The upper hinge frame, the top of said upper hinge frame is connected through the moving platform web member with said moving platform bottom, and said upper hinge puts up arch and two ends are formed with first circular hole on same axis respectively;
Following hinge mount; The said bottom of hinge mount down is connected with said model through the model web member; Said hinge mount down forms the hemisphere hull shape; And locate to be formed on two flanges on the same axis on the edge of, be formed with second circular hole respectively on said two flanges, the axis of the axis of said two second circular holes and said first circular hole is perpendicular; And
Joint spider, four axle heads of said joint spider are located at respectively in said two first circular holes and two second circular holes rotationally.
10. wind-tunnel model supporting device according to claim 9; The two ends of the wherein said first rope spare pass respectively behind the moving platform with said hinge mount down on two relative positions be connected; The two ends of the said second rope spare pass respectively behind the said moving platform with said hinge mount down on two other relative position be connected, the line of said two other relative position is vertical with the line of said two relative positions.
11. wind-tunnel model supporting device according to claim 1, wherein said moving platform have three rotational freedoms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010101024679A CN101793592B (en) | 2010-01-18 | 2010-01-22 | Wind tunnel model supporting device |
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| CN201010034327.2 | 2010-01-18 | ||
| CN201010034327 | 2010-01-18 | ||
| CN2010101024679A CN101793592B (en) | 2010-01-18 | 2010-01-22 | Wind tunnel model supporting device |
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| CN101793592A CN101793592A (en) | 2010-08-04 |
| CN101793592B true CN101793592B (en) | 2012-07-04 |
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| CN101929915B (en) * | 2010-08-30 | 2011-11-30 | 南京航空航天大学 | Hybrid mechanism-based large attack angle dynamic experimental device of wind tunnel |
| CN102353512B (en) * | 2011-07-22 | 2014-10-01 | 北京航空航天大学 | Attack angle control method based on synchronous operation of multiple motors and multifunctional supporting device |
| CN103009391B (en) * | 2012-12-14 | 2015-01-07 | 厦门大学 | Variable-structure rope-traction parallel robot for wind tunnel test |
| CN103323178B (en) * | 2013-05-29 | 2015-07-08 | 哈尔滨工业大学 | Attitude motion simulation device with two degrees of freedom |
| CN105652684B (en) * | 2014-11-13 | 2019-03-26 | 北京航天计量测试技术研究所 | A kind of novel large four-degree-of-freedom attitude-simulating simulation architecture |
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| CN106950028B (en) * | 2017-03-01 | 2019-07-12 | 中国航天空气动力技术研究院 | Support component for wind tunnel test |
| CN107036781B (en) * | 2017-06-08 | 2023-04-25 | 中国航空工业集团公司哈尔滨空气动力研究所 | Low-damping three-degree-of-freedom supporting device based on virtual flight test model |
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| CN112629805B (en) * | 2021-01-07 | 2022-08-12 | 中国空气动力研究与发展中心超高速空气动力研究所 | Low-damping pitching dynamic supporting device for wind tunnel free oscillation test |
| CN114624000B (en) * | 2022-03-30 | 2024-04-12 | 湖南科技大学 | High-rise building model capable of realizing instant hole opening based on wind tunnel test |
| CN115597821B (en) * | 2022-12-15 | 2023-03-14 | 中国空气动力研究与发展中心超高速空气动力研究所 | Large hypersonic high-temperature wind tunnel model feeding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1544210A (en) * | 2003-11-28 | 2004-11-10 | 清华大学 | Rotating parallel robot mechanism with two degrees of freedom |
| CN101016971A (en) * | 2006-12-30 | 2007-08-15 | 浙江大学 | Master-slave mode two-in-parallel twelve degree of freedom generalized force adjustment loading mechanism |
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| CN101793592A (en) | 2010-08-04 |
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