A Dynamic Balance Method for the Movement Mechanism on a Three-axis Air-floor Platform

Abstract

The invention provides a dynamic balancing method for a motion mechanism on a three-axis air bearing table. According to the kinetic inverse solution for a to-be-balanced motion mechanism, an unbalanced moment acting on a spherical center of an air bearing ball bearing is calculated, and a balance adjusting mechanism is controlled to compensate the moment; the air bearing table is made to keep dynamic balancing, and building of an air bearing table coordinate system is included; the current total center-of-mass position vector of the to-be-balanced motion mechanism in the coordinate system is calculated and obtained; the vector is then substituted to the kinetic inverse solution for the to-be-balanced motion mechanism to obtain an unbalanced moment expression acting on the spherical center of the air bearing ball bearing; the expression is substituted to the kinetic positive solution of the balance adjusting mechanism of the air bearing table to calculate and obtain an expected balance adjusting mechanism position vector; and according to the vector, the balance adjusting mechanism is controlled to move. The method of the invention enables the center of mass of the air bearing table whose load includes the motion mechanism is always in the spherical center of the air bearing ball bearing, the purpose of keeping dynamic balancing is achieved, and the practicality is high.

Description

technical field [0001] The invention relates to a dynamic balance method of a turntable, in particular to a dynamic balance method of a motion mechanism on a three-axis air bearing platform. Background technique [0002] The three-axis air bearing platform is a supporting platform for simulating the movement attitude of the aircraft in the microgravity environment of space on the ground. In order to realistically simulate the motion attitude of the space vehicle, the position of the balance mechanism of the air-floor table must be adjusted first, so that the center of mass of the air-floor table and its load coincides with the ball center of the air-floor ball bearing completely. However, when the load includes a moving mechanism (such as a mechanical arm, a docking device, etc.), the position of the center of mass of the load caused by the movement of the mechanism changes, which destroys the original balance of the air bearing table, so dynamic compensation must be perform...

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is to overcome the unbalanced moment problem caused by the change of the center of mass of the moving mechanism in the load of the air-floating platform that cannot be eliminated by the existing air-floating platform leveling technology, and provide a dynamic balance method for the moving mechanism on the three-axis air-floating platform

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